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diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fc1118895f9fbe4de2438ad6797579b77d184251
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
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less_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_23","position":[-0.32817093519650664,0.8333070458452037,0.71338606911949],"aabb_xy":[[-0.37814835206176023,0.7833070443559551],[-0.27819351833125305,0.8833070473344522]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_24","position":[-0.3960847362149591,-0.7587496117422765,0.71338606911949],"aabb_xy":[[-0.4057163724353887,-0.7683869245219852],[-0.3864530999945295,-0.7491122989625674]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.697998805563071,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1011.png","name":"1011"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1011.png","name":"1011"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6550.png","name":"6550"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8796.png","name":"8796"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9155.png","name":"9155"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6696.png","name":"6696"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":747.3133539013473,"rotation_z_degrees":329.6684836251386,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009395669839319214,-0.010119346052241332,-0.0009036525535977107]},{"name":"camera_2","offset_m":[0.004455903957546775,0.0010802159112476145,-0.017190443468172417]},{"name":"camera_3","offset_m":[-0.01643131172785325,0.0050952389334099485,-0.014534068868755776]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010144965107698844,0.0013000316178019048,-0.0015001979037656539],"end_effector_yaw_offset_degrees":0.4287574835202248},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[0.0004710774010019277,0.0008550783288775649,0.0006711815662566322],"end_effector_yaw_offset_degrees":0.5747733376718362},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0009986523055397739,-0.0007959863978658289,-0.0018029112290129184],"end_effector_yaw_offset_degrees":0.8616534615456952}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_cvg_00014","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0011934313744884494,-0.0013274523212794698],"position_m":[0.2520065686255115,0.21737254767872052,0.7730800627579277],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003087621037393444,0.0008251520820040112],"position_m":[0.28038762103739345,-0.06517484791799599,0.7774145980897915],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[-0.0005010010922012397,-0.0026118372491649357],"position_m":[0.34309899890779877,0.045188162750835065,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004862549472680321,-0.000929750710071388],"position_m":[0.11583745052731968,0.3984702492899286,0.7158860691194898],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017439589869015,-0.00018114696870633138],"position_m":[0.2194439589869015,-0.43918114696870636,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1e41d197b101f6a9d14ed60fc591928548855fb423d364d047c5868d9e956895","episode_index":102,"episode_name":"episode_0102"},"hdf5_path":"ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/dataset/episode_0102.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1011/tex_ceiling_textures_6696/tex_floor_textures_9155/tex_table_textures_6550/tex_wall_textures_8796","seeds":{"action_seed":6428506004157355875,"physical_seed":4650221932225994587,"visual_seed":8222783814721816088,"layout_id":"layout_00014","physical_randomization_enabled":true},"episode_seed":8222783814721816088,"visual_seed":8222783814721816088,"scene_id":"lab_003","finished_at":"2026-09-03T17:46:41"}
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/resolved_config.yaml b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b91aa2d6b26cb5e1fb02db07e54fcb22a23903ac
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/resolved_config.yaml
@@ -0,0 +1,254 @@
+name: fast_3beaker_preloaded_mix_s03_pol_cvg_00014
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker b from home. Pour beaker b into the preloaded
+    beaker c and return it upright. Place beaker b at home.
+  layout_id: layout_00014
+  reproducibility:
+    enabled: true
+    layout_id: layout_00014
+    action_seed: 6428506004157355875
+    step_seeds:
+    - 4947227672382490837
+    - 8216466612410408910
+    - 5552583258780378057
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2773
+      - 0.2773
+      'y':
+      - -0.066
+      - -0.066
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2532
+      - 0.2532
+      'y':
+      - 0.2187
+      - 0.2187
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_c
+    path: /World/beaker_3
+    position_range:
+      x:
+      - 0.3436
+      - 0.3436
+      'y':
+      - 0.0478
+      - 0.0478
+      z:
+      - 0.0
+      - 0.0
+    role: receiver
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.1207
+      - 0.1207
+      'y':
+      - 0.3994
+      - 0.3994
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2177
+      - 0.2177
+      'y':
+      - -0.439
+      - -0.439
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  steps:
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.25
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: false
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      hold_grasp_pose_until_close: false
+  - skill: pour
+    target_object: beaker_c
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.006
+      - 0.002
+      - 0.012
+      - 0.01
+      - 0.009
+      - 0.01
+      pour_speed: -1.5
+      source_name: beaker
+      approach_xy_threshold: 0.08
+      tilt_position_threshold: 0.04
+      height_range_1:
+      - 0.3
+      - 0.4
+      height_range_2:
+      - 0.2
+      - 0.2
+      position_only: false
+      tilt_strategy: wrist_velocity
+      position_threshold: 0.015
+      post_return_recenter: true
+      lock_target_position: true
+      held_gripper_distances: 0.019
+  - skill: place
+    target_object: beaker_b
+    target_key: beaker_b_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+  gripper_contact_profile: pour_torsional
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_0_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e893c59a5123c758a92e2c3d63f68e15626eaa3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_0_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2785631409127442,
+              0.22095268058849724,
+              1.0008539989187788
+            ],
+            "current_z": 1.0008539989187788,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.14426761071950278,
+            "gripper_z": 1.0013539934927218,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27347771257367487,
+              0.21602990138620176,
+              1.0013539934927218
+            ],
+            "object_minus_gripper": [
+              0.005085428339069331,
+              0.004922779202295474,
+              -0.0004999945739430078
+            ],
+            "object_to_gripper_xy": 0.007077805907649793,
+            "object_to_gripper_z": -0.0004999945739430078,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2785631409127442,
+              0.1966282634894259,
+              1.0008539989187788
+            ],
+            "finger_b": [
+              0.2664631833502878,
+              0.22095268058849724,
+              1.0008539989187788
+            ],
+            "finger_midpoint": [
+              0.272513162131516,
+              0.20879047203896156,
+              1.0008539989187788
+            ],
+            "object_minus_finger_midpoint": [
+              0.006049978781228205,
+              0.012162208549535675,
+              0.0
+            ],
+            "finger_gap": 0.027167742641280315,
+            "fingertip_max_gap": 0.09045725381954522,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013583871320640158,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0008539989187788,
+            "object_top_z": 1.046081877949218,
+            "finger_top_clearance": 0.04522787903043923,
+            "fingertip_min_top_clearance": 0.013568363709131753,
+            "object_projection_between_fingers": 0.801637037740952,
+            "object_to_finger_line_xy": 0.010833598452270294,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047728626909772615,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4530136039583289,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 173,
+            "max_stable_success_frames": 173,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3614543135025512,
+              0.05160869317309422,
+              0.7701464541367563
+            ],
+            "gripper_position": [
+              0.35877920082951265,
+              0.03929314466566429,
+              1.0302123987483225
+            ],
+            "target_minus_gripper": [
+              0.002675112673038549,
+              0.012315548507429927,
+              -0.2600659446115662
+            ],
+            "held_position": [
+              0.3639438942081986,
+              0.04411925560769642,
+              1.029595179943452
+            ],
+            "held_minus_target": [
+              0.0024895807056474206,
+              -0.0074894375653978,
+              0.25944872580669565
+            ],
+            "held_minus_gripper": [
+              0.0051646933786859694,
+              0.004826110942032127,
+              -0.000617218804870534
+            ],
+            "xy_dist": 0.012602736324001662,
+            "held_xy_dist": 0.007892381588337175,
+            "held_gripper_dist": 0.007095517146320677,
+            "max_held_gripper_dist": 0.0070989282625913185,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701464541367563,
+            "held_z": 1.029595179943452,
+            "required_height": 0.8001464541367563,
+            "gripper_z": 1.0302123987483225,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.2444284889423,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "source_start_tilt_deg": 0.44296384417176105,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.918596131998855,
+            "max_source_tilt_deg": 89.98288106271329,
+            "source_upright_tilt_deg": 2.9166135810315086,
+            "max_source_upright_tilt_deg": 89.86627979418519,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.918596131998855,
+            "source_upright_return_tilt_deg": 2.9166135810315086,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.1471251561311744e-07,
+            "max_target_xy_drift": 1.3753851069936212e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.039564658384377095,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 4.9467323829336304e-05,
+            "max_target_tilt_deg": 0.0001235997701586661,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 218,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 218,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3615,
+                0.0516,
+                0.7701
+              ],
+              "controller_target_position": [
+                0.3615,
+                0.0516,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                0.0003,
+                -0.0005,
+                -0.0013
+              ],
+              "controller_last_pour_pose_position": [
+                0.3618,
+                0.0257,
+                1.0342
+              ],
+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
+                0.0675,
+                0.0651,
+                0.0949
+              ],
+              "height_range_1": [
+                0.3,
+                0.4
+              ],
+              "height_range_2": [
+                0.2,
+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  0.0
+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
+                  0.000305375696662774,
+                  -0.0004527065811296177,
+                  -0.0013326189090335653
+                ],
+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
+              "source_return_upright_error_deg": 2.91661218872541,
+              "source_return_step_error_deg": 2.9185913427478796,
+              "source_return_stable_frames": 5,
+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 2.9140417731516184,
+              "source_return_best_wrist_position": -1.6332194805145264,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6332194805145264
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3615,
+              0.0516,
+              0.7701
+            ],
+            "pour_controller_controller_target_position": [
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+              0.0516,
+              0.7701
+            ],
+            "pour_controller_controller_target_minus_raw_target": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.0003,
+              -0.0005,
+              -0.0013
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.3618,
+              0.0257,
+              1.0342
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.0675,
+              0.0651,
+              0.0949
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.000305375696662774,
+                -0.0004527065811296177,
+                -0.0013326189090335653
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 2.91661218872541,
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+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.9140417731516184,
+            "pour_controller_source_return_best_wrist_position": -1.6332194805145264,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6332194805145264,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.012602736324001662,
+            "valid_pour_held_xy_dist": 0.007892381588337175,
+            "valid_pour_held_gripper_dist": 0.007095517146320677,
+            "valid_pour_required_height": 0.8001464541367563,
+            "valid_pour_held_z": 1.029595179943452,
+            "valid_pour_source_tilt_deg": 2.918596131998855,
+            "valid_pour_source_upright_tilt_deg": 2.9166135810315086,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.1471251561311744e-07,
+            "valid_pour_target_tilt_deg": 4.9467323829336304e-05,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3639438942081986,
+              0.020320056151905172,
+              1.029595179943452
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.35247296715033194,
+              0.04411925560769642,
+              1.029595179943452
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3582084306792653,
+              0.032219655879800795,
+              1.029595179943452
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3639438942081986,
+              0.04411925560769642,
+              1.029595179943452
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02641938800016821,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023698574176781097,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.00608470363666079,
+              -0.9987046586385168,
+              0.05051713764038901
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0056948613242730406,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.033281140685835355,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3639438942081986,
+              0.020320056151905172,
+              1.029595179943452
+            ],
+            "held_grasp_finger_b": [
+              0.35247296715033194,
+              0.04411925560769642,
+              1.029595179943452
+            ],
+            "held_grasp_midpoint": [
+              0.3582084306792653,
+              0.032219655879800795,
+              1.029595179943452
+            ],
+            "held_grasp_object_position": [
+              0.3639438942081986,
+              0.04411925560769642,
+              1.029595179943452
+            ],
+            "held_grasp_finger_gap": 0.02641938800016821,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023698574176781097,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.00608470363666079,
+              -0.9987046586385168,
+              0.05051713764038901
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0056948613242730406,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.033281140685835355,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2503091041880147,
+              0.21324893870581893,
+              0.7565866993741572
+            ],
+            "target_position": [
+              0.2539525234073175,
+              0.21787721456183454,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.005890283610061732,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21222579876650674,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565866993741572,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561879081764794,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496566394213474,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18114904343921004,
+            "release_required_pad_clearance": 0.05248283197106737,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.03956407371146478,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d997302470ea055735b75b46c885a60fe9eb7cfaf74f5f6255394295a1f6bc39",
+    "visual_seed": 6127863894643910182,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_100_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d73abc22eb19536e9239f925b55a7c97d12bcdd9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_100_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2745537328153541,
+              0.2209049203063518,
+              1.0001661527798384
+            ],
+            "current_z": 1.0001661527798384,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14357964537127288,
+            "gripper_z": 1.0010628786258686,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2690578539788997,
+              0.21595021795649694,
+              1.0010628786258686
+            ],
+            "object_minus_gripper": [
+              0.005495878836454415,
+              0.004954702349854873,
+              -0.0008967258460301775
+            ],
+            "object_to_gripper_xy": 0.007399578336678715,
+            "object_to_gripper_z": -0.0008967258460301775,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2745537328153541,
+              0.19595675710491903,
+              1.0001661527798384
+            ],
+            "finger_b": [
+              0.26283794868450683,
+              0.2209049203063518,
+              1.0001661527798384
+            ],
+            "finger_midpoint": [
+              0.26869584074993047,
+              0.20843083870563542,
+              1.0001661527798384
+            ],
+            "object_minus_finger_midpoint": [
+              0.005857892065423642,
+              0.012474081600716391,
+              0.0
+            ],
+            "finger_gap": 0.027562119746600368,
+            "fingertip_max_gap": 0.09064964689974339,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013781059873300184,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0001661527798384,
+            "object_top_z": 1.0456818206872567,
+            "finger_top_clearance": 0.045515667907418234,
+            "fingertip_min_top_clearance": 0.013654700372225487,
+            "object_projection_between_fingers": 0.8193169173324957,
+            "object_to_finger_line_xy": 0.010604673995191764,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0478248234498717,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4647251329249423,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
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+                "panda_leftfingertip",
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+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25343829151819375,
+              0.21879768277189485,
+              0.7565863179756661
+            ],
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+              0.24916322759968101,
+              0.21809632795004147,
+              0.7730800627579277
+            ],
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2158490871191681,
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+            "gripper_away_ok": true,
+            "object_z": 0.7565863179756661,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545999353004776,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08731642903229019,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18534678361722842,
+            "release_required_pad_clearance": 0.053658214516145095,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3259586967784305,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 100,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "38ba5d05e722d8231980d52f378191931716d64691b720c50d8d0101fd81398d",
+    "visual_seed": 7454252927065687888,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_102_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_102_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb2a7eddfc9037a199cbbb890e1e8cffe4bea19f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_102_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 102,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+              0.20960598272423964,
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+          "failed_keys": [],
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+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "uses_end_effector_tilt_evidence": false,
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+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 6.143906154658885e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 102,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1e41d197b101f6a9d14ed60fc591928548855fb423d364d047c5868d9e956895",
+    "visual_seed": 8222783814721816088,
+    "episode_index": 102,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_10_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e9a38d1a5d2fdcc64167d2406233c1f1d860ff6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_10_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+          "checker": "PickSuccessChecker",
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+              0.21653412528143062,
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+              0.22150091849692224,
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+              0.0,
+              1.0
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+            },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+              0.05165586885683991,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "target_max_tilt_deg": 20.0,
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+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+            "pour_controller_resolved_tilt_axis_world": null,
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 8.195638656616211e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3740094176397536,
+              8.702779203358435e-05,
+              1.0336287413551672
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.36360499438782923,
+              0.025069075817013627,
+              1.0336287413551672
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3688072060137914,
+              0.012578051804523606,
+              1.0336287413551672
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3740094176397536,
+              0.025069075817013627,
+              1.0336287413551672
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027062053631008748,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024292000465459904,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.06098049295046938,
+              -0.9977751743693356,
+              0.026945888216197478
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0044439112958119045,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03241975787431315,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3740094176397536,
+              8.702779203358435e-05,
+              1.0336287413551672
+            ],
+            "held_grasp_finger_b": [
+              0.36360499438782923,
+              0.025069075817013627,
+              1.0336287413551672
+            ],
+            "held_grasp_midpoint": [
+              0.3688072060137914,
+              0.012578051804523606,
+              1.0336287413551672
+            ],
+            "held_grasp_object_position": [
+              0.3740094176397536,
+              0.025069075817013627,
+              1.0336287413551672
+            ],
+            "held_grasp_finger_gap": 0.027062053631008748,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024292000465459904,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06098049295046938,
+              -0.9977751743693356,
+              0.026945888216197478
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0044439112958119045,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03241975787431315,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2573176867368894,
+              0.22112546423916243,
+              0.756589663582889
+            ],
+            "target_position": [
+              0.2562197805903269,
+              0.21679118030794545,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.004471176031321672,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2178448993448926,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756589663582889,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572244471332794,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08723169947715996,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18788857248938842,
+            "release_required_pad_clearance": 0.05361584973857998,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2244423865692156,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 264,
+            "max_placed_release_frames": 264
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "36026ad486b25d01574bd1dec22edd6e163d75465083b36c80213cc437e9ed86",
+    "visual_seed": 3380869147746304570,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_11_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9e36fcf33f48a5e67b9f1e6eb01d96c3b92d2bd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_11_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28000975889705787,
+              0.21649305474223327,
+              0.9996593696350008
+            ],
+            "current_z": 0.9996593696350008,
+            "required_z": 0.8565864478039209,
+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.1430729218310799,
+            "gripper_z": 1.0009120989972349,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2748574943983777,
+              0.21155535142364895,
+              1.0009120989972349
+            ],
+            "object_minus_gripper": [
+              0.00515226449868017,
+              0.004937703318584313,
+              -0.001252729362234084
+            ],
+            "object_to_gripper_xy": 0.007136297606372548,
+            "object_to_gripper_z": -0.001252729362234084,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28000975889705787,
+              0.19209428681075555,
+              0.9996593696350008
+            ],
+            "finger_b": [
+              0.26792798257953365,
+              0.21649305474223327,
+              0.9996593696350008
+            ],
+            "finger_midpoint": [
+              0.2739688707382958,
+              0.2042936707764944,
+              0.9996593696350008
+            ],
+            "object_minus_finger_midpoint": [
+              0.006040888158762081,
+              0.012199383965738858,
+              0.0
+            ],
+            "finger_gap": 0.027226259301652043,
+            "fingertip_max_gap": 0.09105183616135182,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01361312965082601,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9996593696350008,
+            "object_top_z": 1.045332694704332,
+            "finger_top_clearance": 0.045673325069331194,
+            "fingertip_min_top_clearance": 0.013701997520799375,
+            "object_projection_between_fingers": 0.8030819034962615,
+            "object_to_finger_line_xy": 0.010827064170119421,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04802591808067591,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5690813762553156,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "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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+                "wrist_2_joint",
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24066246377811926,
+              0.22128831779278554,
+              0.7565887244116601
+            ],
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+              0.2553065364086893,
+              0.21392803698691285,
+              0.7730800627579277
+            ],
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+            "gripper_dist": 0.20316010063358342,
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+            "gripper_away_ok": true,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_missing_size": false,
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+            "release_required_pad_clearance": 0.05339457644908664,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7939925940125907,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 262,
+            "max_placed_release_frames": 262
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "98e490cc3316315024925dd76cbf4bc87199f57e16c672f04952b417312788a6",
+    "visual_seed": 7095734545895641088,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_12_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e11e628af880fdac71ff1c3f0cca67aa629936c8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_12_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "skill": "pick",
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+              1.0
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+        "ordinary_object_physical_only": true
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "metrics": {
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 3.725290298461914e-09,
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+            "target_upright_reference_source": "scene_initial",
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+              "controller_target_position": [
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+              "controller_target_minus_raw_target": [
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+    "task_island_state_digest": "d6b5d2890c61cb01e327dda60e3903e3839a9d151c813159425072ae2023fe8b",
+    "visual_seed": 8195928930257294834,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_13_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1989871f0effff7de68d63a9d5641ffb0b04176f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_13_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "valid_pour_grasp_window_ok": true,
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+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
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+              0.37625956440449587,
+              0.0158558365586455,
+              1.0324009108984922
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02720196042544002,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024514389837113498,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.05752974551965634,
+              -0.9978446676506527,
+              0.03156497460163865
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.00445219747573081,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03234858692298147,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37625956440449587,
+              -0.00930723117663923,
+              1.0324009108984922
+            ],
+            "held_grasp_finger_b": [
+              0.36592676840647687,
+              0.0158558365586455,
+              1.0324009108984922
+            ],
+            "held_grasp_midpoint": [
+              0.3710931664054864,
+              0.0032743026910031347,
+              1.0324009108984922
+            ],
+            "held_grasp_object_position": [
+              0.37625956440449587,
+              0.0158558365586455,
+              1.0324009108984922
+            ],
+            "held_grasp_finger_gap": 0.02720196042544002,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024514389837113498,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05752974551965634,
+              -0.9978446676506527,
+              0.03156497460163865
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00445219747573081,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03234858692298147,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2515936097153055,
+              0.2194799619487011,
+              0.7565863966917562
+            ],
+            "target_position": [
+              0.2489584142016405,
+              0.2203612517853493,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0027786556410284895,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21814805540686355,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863966917562,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534485857443438,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0856620842954058,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18772644013188686,
+            "release_required_pad_clearance": 0.0528310421477029,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7066489326492803,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 228,
+            "max_placed_release_frames": 228
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "70269b2ed9dcb773c03760a8c80225be8712ea741b4e762349041b1da488a7ff",
+    "visual_seed": 7660728366145208492,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_14_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..19e21505b3806d8345846fabdbf044bc5d01f70d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_14_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27639908910855776,
+              0.2201895122812149,
+              0.9999480527347437
+            ],
+            "current_z": 0.9999480527347437,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14336154532617817,
+            "gripper_z": 1.000747557537634,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2709669626870459,
+              0.21529090445932977,
+              1.000747557537634
+            ],
+            "object_minus_gripper": [
+              0.0054321264215118625,
+              0.004898607821885115,
+              -0.0007995048028901497
+            ],
+            "object_to_gripper_xy": 0.007314667186681927,
+            "object_to_gripper_z": -0.0007995048028901497,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27639908910855776,
+              0.1952826951752739,
+              0.9999480527347437
+            ],
+            "finger_b": [
+              0.26476810920803745,
+              0.2201895122812149,
+              0.9999480527347437
+            ],
+            "finger_midpoint": [
+              0.2705835991582976,
+              0.20773610372824441,
+              0.9999480527347437
+            ],
+            "object_minus_finger_midpoint": [
+              0.005815489950260155,
+              0.012453408552970474,
+              0.0
+            ],
+            "finger_gap": 0.027488710988242092,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013744355494121034,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9999480527347437,
+            "object_top_z": 1.0453534564779328,
+            "finger_top_clearance": 0.04540540374318902,
+            "fingertip_min_top_clearance": 0.013621621122956706,
+            "object_projection_between_fingers": 0.8209708045241554,
+            "object_to_finger_line_xy": 0.010538533046131027,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047773184445728076,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4089806666821346,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25632623506135244,
+              0.2158579358618549,
+              0.7565869065652777
+            ],
+            "target_position": [
+              0.2512359626270936,
+              0.21549054588583952,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.005103513382901252,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21902104930304087,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565869065652777,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530923335750404,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08617372181012543,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18861777737585966,
+            "release_required_pad_clearance": 0.05308686090506272,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2000609873111945,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 230,
+            "max_placed_release_frames": 230
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c09e5c04bcb5094c70fe7ef40e7fbea215cecdb2edb0c3f12ffe119f72e24f50",
+    "visual_seed": 4946649082563690123,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_15_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..14585f14500c485c3a3a1c67dc6d45dbbb6b2fbc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_15_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27437405980768603,
+              0.22114000644573467,
+              0.9976054517250097
+            ],
+            "current_z": 0.9976054517250097,
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+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1410190039210889,
+            "gripper_z": 0.9989309502226807,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.21612070692027846,
+              0.9989309502226807
+            ],
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+              0.005019299525456211,
+              -0.0013254984976710515
+            ],
+            "object_to_gripper_xy": 0.007233139457182494,
+            "object_to_gripper_z": -0.0013254984976710515,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27437405980768603,
+              0.19676671003469548,
+              0.9976054517250097
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+            "finger_b": [
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+              0.22114000644573467,
+              0.9976054517250097
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+            "finger_midpoint": [
+              0.26823386290655094,
+              0.20895335824021508,
+              0.9976054517250097
+            ],
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+              0.012186648205519596,
+              0.0
+            ],
+            "finger_gap": 0.027292226913156283,
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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": 0.010966993611017316,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04785816507849723,
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+            "object_tilt_deg": 0.5682992738890341,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3659187368160909,
+              0.04427776378267265,
+              0.7701464494012564
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+            "gripper_position": [
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+              0.01213594781518143,
+              1.0357584941735605
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+              0.032141815967491216,
+              -0.26561204477230405
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+              0.01673175898631766,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.0045958111711362284,
+              -0.0015034275842569222
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+            "held_gripper_dist": 0.007353687709675851,
+            "max_held_gripper_dist": 0.007356493681700419,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701464494012564,
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+            "required_height": 0.8001464494012565,
+            "gripper_z": 1.0357584941735605,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.33634351079556,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "source_start_tilt_deg": 0.6005240254081693,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 3.5499378275659015,
+            "max_source_tilt_deg": 89.75139821905833,
+            "source_upright_tilt_deg": 3.868708670208144,
+            "max_source_upright_tilt_deg": 89.78667313375193,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 3.5499378275659015,
+            "source_upright_return_tilt_deg": 3.868708670208144,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.960037906741593e-08,
+            "max_target_xy_drift": 1.649676995388011e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3659,
+                0.0443,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0443,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                0.0,
+                0.0005
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+              ],
+              "height_range_2": [
+                0.2,
+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
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+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
+                  0.0006874011857847012,
+                  2.9617007701591112e-05,
+                  0.00048675088405344957
+                ],
+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
+              "source_return_upright_error_deg": 3.868506202708021,
+              "source_return_step_error_deg": 3.5497381400421926,
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+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 3.864868518272581,
+              "source_return_best_wrist_position": -1.6277390718460083,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6277390718460083
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3659,
+              0.0443,
+              0.7701
+            ],
+            "pour_controller_controller_target_position": [
+              0.3659,
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+            ],
+            "pour_controller_controller_target_minus_raw_target": [
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+              0.0,
+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.0007,
+              0.0,
+              0.0005
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.3666,
+              0.018,
+              1.0369
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.0686,
+              0.0666,
+              0.0921
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0006874011857847012,
+                2.9617007701591112e-05,
+                0.00048675088405344957
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 3.868506202708021,
+            "pour_controller_source_return_step_error_deg": 3.5497381400421926,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.864868518272581,
+            "pour_controller_source_return_best_wrist_position": -1.6277390718460083,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6277390718460083,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03254669546726691,
+            "valid_pour_held_xy_dist": 0.029536008609671104,
+            "valid_pour_held_gripper_dist": 0.007353687709675851,
+            "valid_pour_required_height": 0.8001464494012565,
+            "valid_pour_held_z": 1.0342550665893036,
+            "valid_pour_source_tilt_deg": 3.5499378275659015,
+            "valid_pour_source_upright_tilt_deg": 3.868708670208144,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.960037906741593e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3765767584125108,
+              -0.008213429809711207,
+              1.0342550665893036
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.36599254632287653,
+              0.01673175898631766,
+              1.0342550665893036
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3712846523676937,
+              0.004259164588303226,
+              1.0342550665893036
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3765767584125108,
+              0.01673175898631766,
+              1.0342550665893036
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027097748792619003,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024237718809678066,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.06147145933990376,
+              -0.9977212831018148,
+              0.027811884731009484
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004529041323024295,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.032430738597858874,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3765767584125108,
+              -0.008213429809711207,
+              1.0342550665893036
+            ],
+            "held_grasp_finger_b": [
+              0.36599254632287653,
+              0.01673175898631766,
+              1.0342550665893036
+            ],
+            "held_grasp_midpoint": [
+              0.3712846523676937,
+              0.004259164588303226,
+              1.0342550665893036
+            ],
+            "held_grasp_object_position": [
+              0.3765767584125108,
+              0.01673175898631766,
+              1.0342550665893036
+            ],
+            "held_grasp_finger_gap": 0.027097748792619003,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024237718809678066,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06147145933990376,
+              -0.9977212831018148,
+              0.027811884731009484
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004529041323024295,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032430738597858874,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25643486458293896,
+              0.21411926201380307,
+              0.7565870640720557
+            ],
+            "target_position": [
+              0.24941368997999702,
+              0.2186813174563618,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.008373126218204078,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21865238089170866,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565870640720557,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532563463432292,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0891862790675844,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18706068010245971,
+            "release_required_pad_clearance": 0.054593139533792204,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.220140830146701,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 228,
+            "max_placed_release_frames": 228
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "45a84c719eb51dbdda9ae48d20dca2969148d9c477d98d9002bdaa5ca75114ac",
+    "visual_seed": 4078531602922018658,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_16_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fb807ac9bc26eab1f70c1be03c92c5c27e97c1c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_16_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 16,
+  "success": true,
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+            "valid_pour_held_grasp_top_clearance": 0.03251747162075977,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37572839936889857,
+              -0.005755763020840142,
+              1.0381703927057788
+            ],
+            "held_grasp_finger_b": [
+              0.36509166268227644,
+              0.019119143721955487,
+              1.0381703927057788
+            ],
+            "held_grasp_midpoint": [
+              0.3704100310255875,
+              0.006681690350557672,
+              1.0381703927057788
+            ],
+            "held_grasp_object_position": [
+              0.37572839936889857,
+              0.019119143721955487,
+              1.0381703927057788
+            ],
+            "held_grasp_finger_gap": 0.02705367170650432,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02430392154258597,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04990182509881979,
+              -0.9983842099643937,
+              0.02718045521289402
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004703515258764,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03251747162075977,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24868971103337117,
+              0.22683180494147934,
+              0.75658647222135
+            ],
+            "target_position": [
+              0.2581559324641468,
+              0.2171414849818786,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.013546647153296357,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20864870396778562,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.75658647222135,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525114040531157,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08828571728019093,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18140616660932685,
+            "release_required_pad_clearance": 0.054142858640095465,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.296114055898249,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 263,
+            "max_placed_release_frames": 263
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "31e521db53479e237043f9368768be23f48f9d356e34cec0c6406837d2d3f5c4",
+    "visual_seed": 7754784372817386576,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_17_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b54b3e07b1ae8b82fa4dca2194955101d953b8e4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_17_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2812546914090109,
+              0.21995038662152172,
+              1.0004560013358281
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+            "current_z": 1.0004560013358281,
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+            "lift_margin": 0.14386955353190722,
+            "gripper_z": 1.0011932886791663,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2758949014799825,
+              0.21495519282452408,
+              1.0011932886791663
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+              0.005359789929028358,
+              0.004995193796997643,
+              -0.0007372873433382221
+            ],
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+            "object_to_gripper_z": -0.0007372873433382221,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2812546914090109,
+              0.19526889202461392,
+              1.0004560013358281
+            ],
+            "finger_b": [
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+              0.21995038662152172,
+              1.0004560013358281
+            ],
+            "finger_midpoint": [
+              0.2752569736225575,
+              0.2076096393230678,
+              1.0004560013358281
+            ],
+            "object_minus_finger_midpoint": [
+              0.00599771778645336,
+              0.012340747298453913,
+              0.0
+            ],
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0458504961880775,
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+            "fingertip_min_top_clearance": 0.013618348455674816,
+            "object_projection_between_fingers": 0.8089273046938864,
+            "object_to_finger_line_xy": 0.010788741065395943,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04782010726090921,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5777979345452606,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 173,
+            "max_stable_success_frames": 173,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08510524882022454,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18538731297712024,
+            "release_required_pad_clearance": 0.05255262441011227,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1724582559748099,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cf49b75547dd3889febd695ed815f9be3af5877b2990fee1514b7d2af75457aa",
+    "visual_seed": 6593997273187724571,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_18_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..196d3daa2b8915fdafb9498ae7b5d5828d47f6b1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_18_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27396838679080315,
+              0.21869652456098007,
+              0.9973327052246386
+            ],
+            "current_z": 0.9973327052246386,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.140746197816073,
+            "gripper_z": 0.998886763797292,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.21361456659589728,
+              0.998886763797292
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+              0.0050819579650827895,
+              -0.0015540585726534495
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+            "object_to_gripper_z": -0.0015540585726534495,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27396838679080315,
+              0.19425264864170058,
+              0.9973327052246386
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+            "finger_b": [
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+              0.21869652456098007,
+              0.9973327052246386
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+              0.26778753382371745,
+              0.20647458660134033,
+              0.9973327052246386
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012221937959639745,
+              0.0
+            ],
+            "finger_gap": 0.027391875502784744,
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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": 0.011031300356734844,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047839810232123,
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+            "object_tilt_deg": 0.6109345841898444,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04521807920806864,
+              0.7701463897966115
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+            "gripper_position": [
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+              0.010258701881345006,
+              1.0339644206532959
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+            "held_minus_target": [
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+              0.004673112688806949,
+              -0.0017262309699817013
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+            "max_held_gripper_dist": 0.007506013449079429,
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+            "missing_held_position_samples": 0,
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+            "target_z": 0.7701463897966115,
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+            "gripper_z": 1.0339644206532959,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.38389528779719,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 3.330262948023464,
+            "max_source_tilt_deg": 89.74070572510426,
+            "source_upright_tilt_deg": 3.5725964511733665,
+            "max_source_upright_tilt_deg": 89.77254991511506,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 3.330262948023464,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 6.332993505997475e-08,
+            "max_target_xy_drift": 1.788527352237374e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0452,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0452,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+              "source_pose_held_object": "beaker_b",
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+              "wrist_compensated_return_position": -1.6281858682632446
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+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3607,
+              0.0452,
+              0.7701
+            ],
+            "pour_controller_controller_target_position": [
+              0.3607,
+              0.0452,
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+            "pour_controller_controller_target_minus_raw_target": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.002,
+              -0.0015,
+              -0.001
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.3627,
+              0.0175,
+              1.0353
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0664,
+              0.0922
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.001959487996605335,
+                -0.0015407293116306256,
+                -0.0009816436555470686
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 3.5723773209691565,
+            "pour_controller_source_return_step_error_deg": 3.330044396862999,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.5708416422646376,
+            "pour_controller_source_return_best_wrist_position": -1.6281858682632446,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6281858682632446,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03564073173905048,
+            "valid_pour_held_xy_dist": 0.03278132197149669,
+            "valid_pour_held_gripper_dist": 0.00750156322683514,
+            "valid_pour_required_height": 0.8001463897966116,
+            "valid_pour_held_z": 1.0322381896833142,
+            "valid_pour_source_tilt_deg": 3.330262948023464,
+            "valid_pour_source_upright_tilt_deg": 3.5725964511733665,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.332993505997475e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3732845862776153,
+              -0.009983779909171472,
+              1.0322381896833142
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.36246462226392206,
+              0.014931814570151955,
+              1.0322381896833142
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3678746042707687,
+              0.0024740173304902413,
+              1.0322381896833142
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3732845862776153,
+              0.014931814570151955,
+              1.0322381896833142
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027163550384949837,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02427232466023888,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.05497709505404666,
+              -0.9980566536727609,
+              0.029333173693773973
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004731377980029295,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03246921244562916,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3732845862776153,
+              -0.009983779909171472,
+              1.0322381896833142
+            ],
+            "held_grasp_finger_b": [
+              0.36246462226392206,
+              0.014931814570151955,
+              1.0322381896833142
+            ],
+            "held_grasp_midpoint": [
+              0.3678746042707687,
+              0.0024740173304902413,
+              1.0322381896833142
+            ],
+            "held_grasp_object_position": [
+              0.3732845862776153,
+              0.014931814570151955,
+              1.0322381896833142
+            ],
+            "held_grasp_finger_gap": 0.027163550384949837,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02427232466023888,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05497709505404666,
+              -0.9980566536727609,
+              0.029333173693773973
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004731377980029295,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03246921244562916,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24472066612625176,
+              0.21495384172428325,
+              0.7565899305789741
+            ],
+            "target_position": [
+              0.24887785123859602,
+              0.21372350029710446,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0043354270938085245,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2136325550166347,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565899305789741,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583613610152153,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08560881209316364,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1830217980974957,
+            "release_required_pad_clearance": 0.05280440604658182,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6488959429936644,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 269,
+            "max_placed_release_frames": 269
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b2a489c9dd3c745e570b8ccc37bc2e0dd54bc6a66360016c9c17db1f06c3ea42",
+    "visual_seed": 1570257768865379626,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_19_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3151ccb7ef5e697abc27bd98b8f2e4eb2d90e557
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_19_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28210905222924737,
+              0.21745682546409237,
+              0.9984941979822566
+            ],
+            "current_z": 0.9984941979822566,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14190769057369101,
+            "gripper_z": 1.0001294316817673,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2765555810577977,
+              0.21254646215939849,
+              1.0001294316817673
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+            "held_grasp_z_skew": 0.024900516803161733,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.029467589402557778,
+              -0.9995264519277395,
+              0.008861888712151655
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004809641169947711,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03244455665295211,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24220319451614936,
+              0.21480282255723337,
+              0.7565871270470224
+            ],
+            "target_position": [
+              0.25700133771649586,
+              0.2149015655254323,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.014798472635773267,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20587177488834718,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565871270470224,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572780523702433,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08549739770267471,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17647840288075264,
+            "release_required_pad_clearance": 0.05274869885133736,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5467944550311631,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 264,
+            "max_placed_release_frames": 264
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "64597d150f517d669bdc0052a1045ce92058ca86bc17308a59e28cb234b6a3e0",
+    "visual_seed": 8198104527183692601,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_1_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecf3c96950c0f6d983578afb7e3de6fa353328c2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_1_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.22019882241045088,
+              0.9965891766284335
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+              0.21523751906040195,
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+              0.19539766504064757,
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+              0.20779824372554923,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 165,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04908480387800193,
+              0.7701464494012563
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+              0.015241185478503977,
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+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "01b4a6fcedecf2cff4884e669dd5c3ea885f7c4e8a6513242642a906eb7345fd",
+    "visual_seed": 2010272823208535450,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_20_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b65d0abc13f61cae5cc5de8f2a40c51d2a3ae943
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_20_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28008274079150697,
+              0.22156296144163223,
+              0.9994736122666785
+            ],
+            "current_z": 0.9994736122666785,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14288710485811296,
+            "gripper_z": 1.0004693248386076,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.21657094321446313,
+              1.0004693248386076
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+              0.004992018227169104,
+              -0.0009957125719290971
+            ],
+            "object_to_gripper_xy": 0.007340448228030075,
+            "object_to_gripper_z": -0.0009957125719290971,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28008274079150697,
+              0.1969057522910819,
+              0.9994736122666785
+            ],
+            "finger_b": [
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+              0.22156296144163223,
+              0.9994736122666785
+            ],
+            "finger_midpoint": [
+              0.27405904939004705,
+              0.20923435686635705,
+              0.9994736122666785
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012328604575275182,
+              0.0
+            ],
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+            "fingertip_max_gap": 0.0907141053350804,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010824436315782383,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0478570526675402,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 171,
+            "max_stable_success_frames": 171,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.049077789156369934,
+              0.7701465090059011
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+              0.01748490189773011,
+              1.0355036378289628
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+              0.022077808813248986,
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+              0.26418089291777636
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+              0.004592906915518877,
+              -0.0011762359052853721
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+            "missing_held_position_samples": 0,
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+            "gripper_z": 1.0355036378289628,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.28082090303252,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_max_tilt_deg": 20.0,
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+            "max_source_tilt_deg": 89.75033690227762,
+            "source_upright_tilt_deg": 3.8273317346555222,
+            "max_source_upright_tilt_deg": 89.81603365357638,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 4.046065387758718,
+            "source_upright_return_tilt_deg": 3.8273317346555222,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.1175870895385742e-08,
+            "max_target_xy_drift": 1.043081283569336e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0491,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0491,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0,
+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
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+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
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+              "source_pose_held_object": "beaker_b",
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+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_raw_target_position": [
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+            "pour_controller_lock_target_position": true,
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+            "pour_controller_pour_pose_offset": [
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+              -0.0006,
+              -0.0015
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+            "pour_controller_controller_last_pour_pose_position": [
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+              0.0223,
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+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0667,
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+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.001913940094489414,
+                -0.0005961121953056213,
+                -0.0015267576138114948
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 3.827331732630827,
+            "pour_controller_source_return_step_error_deg": 4.046066115722922,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 4.0390280288526945,
+            "pour_controller_source_return_best_wrist_position": -1.6258498430252075,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6258498430252075,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.031700337367135414,
+            "valid_pour_held_xy_dist": 0.028246844903444892,
+            "valid_pour_held_gripper_dist": 0.007407814644942357,
+            "valid_pour_required_height": 0.8001465090059011,
+            "valid_pour_held_z": 1.0343274019236774,
+            "valid_pour_source_tilt_deg": 4.046065387758718,
+            "valid_pour_source_upright_tilt_deg": 3.8273317346555222,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.1175870895385742e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3767655990788426,
+              -0.0030801140780742915,
+              1.0343274019236774
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.36633528305141505,
+              0.022077808813248986,
+              1.0343274019236774
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3715504410651288,
+              0.009498847367587347,
+              1.0343274019236774
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3767655990788426,
+              0.022077808813248986,
+              1.0343274019236774
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027234400610951216,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024476643843891782,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.05993783301983428,
+              -0.997769748032148,
+              0.029376624801877305
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0044675167409554215,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03233673250346883,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3767655990788426,
+              -0.0030801140780742915,
+              1.0343274019236774
+            ],
+            "held_grasp_finger_b": [
+              0.36633528305141505,
+              0.022077808813248986,
+              1.0343274019236774
+            ],
+            "held_grasp_midpoint": [
+              0.3715504410651288,
+              0.009498847367587347,
+              1.0343274019236774
+            ],
+            "held_grasp_object_position": [
+              0.3767655990788426,
+              0.022077808813248986,
+              1.0343274019236774
+            ],
+            "held_grasp_finger_gap": 0.027234400610951216,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024476643843891782,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05993783301983428,
+              -0.997769748032148,
+              0.029376624801877305
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0044675167409554215,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03233673250346883,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25934156877685527,
+              0.2194711284903435,
+              0.7565864535730389
+            ],
+            "target_position": [
+              0.255161569737682,
+              0.21833805685308086,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.004330847873414451,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21555224867205344,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864535730389,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527407787422521,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08922566839098205,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1856001210663301,
+            "release_required_pad_clearance": 0.054612834195491025,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.2644304908808195,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5960942cb7e8e0575436352023d0a936bfd0067573cffc10f3e80498942be356",
+    "visual_seed": 1637064579277802937,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_21_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff387fc1fb04d6b597fed64d77ec8417d400d6d4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_21_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.277217236393886,
+              0.22634323258440217,
+              0.9974049102345085
+            ],
+            "current_z": 0.9974049102345085,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.14081840282594282,
+            "gripper_z": 0.9978428275265153,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2719554763506387,
+              0.22149414704255585,
+              0.9978428275265153
+            ],
+            "object_minus_gripper": [
+              0.005261760043247299,
+              0.004849085541846321,
+              -0.0004379172920068175
+            ],
+            "object_to_gripper_xy": 0.007155400012917297,
+            "object_to_gripper_z": -0.0004379172920068175,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.277217236393886,
+              0.201644218823588,
+              0.9974049102345085
+            ],
+            "finger_b": [
+              0.26553976278427216,
+              0.22634323258440217,
+              0.9974049102345085
+            ],
+            "finger_midpoint": [
+              0.2713784995890791,
+              0.21399372570399508,
+              0.9974049102345085
+            ],
+            "object_minus_finger_midpoint": [
+              0.005838736804806899,
+              0.01234950688040709,
+              0.0
+            ],
+            "finger_gap": 0.027320407585907577,
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+          "safety": {
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+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24887499838088795,
+              0.22811325468264235,
+              0.7565875153600007
+            ],
+            "target_position": [
+              0.25218885265976115,
+              0.22227786024681837,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.006710697311252517,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21540241343257016,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565875153600007,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572153472512201,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08573437113450634,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18600679274881532,
+            "release_required_pad_clearance": 0.05286718556725317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7763166000132508,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 230,
+            "max_placed_release_frames": 230
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a9ec72736cec77c3312978f78e0bd900aa859f4b16d1357fd505531956c117b4",
+    "visual_seed": 269305849880983731,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_22_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba10bf0bfbd57ebfaff8bf26aafbaeec786fd148
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_22_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+      "target": "beaker_b",
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+          "skill": "pick",
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+              0.20370508258499814,
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+            "stable_success_frames": 167,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "max_wrist_deg": 121.32957479332808,
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+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3c84a542e3956a03cc189bad08487746f237c647ef9e6efb6757403f0b90b66e",
+    "visual_seed": 4803128250554943686,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_23_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3309897e28971fff885365f892d07220a95cc8b7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_23_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.27766341261187627,
+              0.221364652650805,
+              0.9977779923039152
+            ],
+            "current_z": 0.9977779923039152,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1411914848953496,
+            "gripper_z": 0.9990876023813613,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2723091898538947,
+              0.21635022763208034,
+              0.9990876023813613
+            ],
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+              0.005354222757981586,
+              0.00501442501872465,
+              -0.0013096100774461217
+            ],
+            "object_to_gripper_xy": 0.007335677174637638,
+            "object_to_gripper_z": -0.0013096100774461217,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27766341261187627,
+              0.19669211267746425,
+              0.9977779923039152
+            ],
+            "finger_b": [
+              0.26563411076449417,
+              0.221364652650805,
+              0.9977779923039152
+            ],
+            "finger_midpoint": [
+              0.2716487616881852,
+              0.20902838266413462,
+              0.9977779923039152
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012336269986670367,
+              0.0
+            ],
+            "finger_gap": 0.027448831153102437,
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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": 0.013635900724546195,
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+            "object_to_finger_line_xy": 0.010812607248209602,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04792847373535977,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7605738893781251,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.36301530516211433,
+              0.049029621152810815,
+              0.7701463897966118
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+            "gripper_position": [
+              0.36867985775700235,
+              0.01780411230201767,
+              1.036296710470824
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+              0.031225508850793143,
+              -0.2661503206742123
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+            "held_position": [
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+              0.022439875939448524,
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+            "held_minus_target": [
+              0.011306268567001343,
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+              0.2646632849152347
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+            "held_minus_gripper": [
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+              0.004635763637430852,
+              -0.001487035758977573
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+            "held_gripper_dist": 0.007451881571831556,
+            "max_held_gripper_dist": 0.0074560471299106,
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+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966118,
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+            "gripper_z": 1.036296710470824,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.31150894297339,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              1.0
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+            "source_start_tilt_deg": 0.5977832591665164,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 3.7697088059061956,
+            "max_source_tilt_deg": 89.9417092973333,
+            "source_upright_tilt_deg": 3.174048557765919,
+            "max_source_upright_tilt_deg": 89.93269898060369,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 3.7697088059061956,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.725290298461914e-08,
+            "max_target_xy_drift": 1.2287812307971426e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.049,
+                0.7701
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+              "controller_target_position": [
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+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0,
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                0.0014,
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+              "controller_last_pour_pose_position": [
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+                1.0369
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+              "source_size": [
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+                0.2,
+                0.2
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "wrist_dof_index": 5,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+                "pour_height_range_m": [
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+                  0.2
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+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
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+              "wrist_compensated_return_position": -1.6265426874160767
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+            ],
+            "pour_controller_controller_last_pour_pose_position": [
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+              0.0242,
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+            ],
+            "pour_controller_height_range_1": [
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
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+                0.2
+              ],
+              "position_threshold_m": 0.015,
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+                0.0005125704873479857
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+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 3.1740489018543125,
+            "pour_controller_source_return_step_error_deg": 3.769709176006071,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.7682556365464257,
+            "pour_controller_source_return_best_wrist_position": -1.6265426874160767,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6265426874160767,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03173514706270027,
+            "valid_pour_held_xy_dist": 0.028893706225070634,
+            "valid_pour_held_gripper_dist": 0.007451881571831556,
+            "valid_pour_required_height": 0.8001463897966118,
+            "valid_pour_held_z": 1.0348096747118465,
+            "valid_pour_source_tilt_deg": 3.7697088059061956,
+            "valid_pour_source_upright_tilt_deg": 3.174048557765919,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.725290298461914e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3743215737291157,
+              -0.00264134553751442,
+              1.0348096747118465
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.36376657574414073,
+              0.022439875939448524,
+              1.0348096747118465
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3690440747366282,
+              0.009899265200967053,
+              1.0348096747118465
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3743215737291157,
+              0.022439875939448524,
+              1.0348096747118465
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02721168229344324,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024532562348217657,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.04833571242607501,
+              -0.9984659526442492,
+              0.02700741221360703
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004677698968941692,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.032423760444442395,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3743215737291157,
+              -0.00264134553751442,
+              1.0348096747118465
+            ],
+            "held_grasp_finger_b": [
+              0.36376657574414073,
+              0.022439875939448524,
+              1.0348096747118465
+            ],
+            "held_grasp_midpoint": [
+              0.3690440747366282,
+              0.009899265200967053,
+              1.0348096747118465
+            ],
+            "held_grasp_object_position": [
+              0.3743215737291157,
+              0.022439875939448524,
+              1.0348096747118465
+            ],
+            "held_grasp_finger_gap": 0.02721168229344324,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024532562348217657,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04833571242607501,
+              -0.9984659526442492,
+              0.02700741221360703
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004677698968941692,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032423760444442395,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25908289685186847,
+              0.21861419425495407,
+              0.7565863802793149
+            ],
+            "target_position": [
+              0.25264041544384985,
+              0.2173864023996758,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.00655843270397381,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2207451706585742,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863802793149,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547733082740067,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08572908978161424,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.19014065645479455,
+            "release_required_pad_clearance": 0.05286454489080712,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7712590902520806,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 229,
+            "max_placed_release_frames": 229
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "98db9199babef5dea77b82dc935b11d4079eceb6caac74bc6e56fb3340449dd8",
+    "visual_seed": 2615042502374048049,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_24_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e85b4722008bf9db5e276c4a106038dd27e9b0f0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_24_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27762841528324805,
+              0.2239631688030145,
+              0.9991754852914668
+            ],
+            "current_z": 0.9991754852914668,
+            "required_z": 0.8565866266178552,
+            "initial_z": 0.7565866266178553,
+            "lift_margin": 0.1425888586736116,
+            "gripper_z": 1.0003402887914499,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2721969209260964,
+              0.2190797558039838,
+              1.0003402887914499
+            ],
+            "object_minus_gripper": [
+              0.005431494357151678,
+              0.004883412999030695,
+              -0.001164803499983047
+            ],
+            "object_to_gripper_xy": 0.00730402994728749,
+            "object_to_gripper_z": -0.001164803499983047,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27762841528324805,
+              0.19905381621581733,
+              0.9991754852914668
+            ],
+            "finger_b": [
+              0.26600416351787004,
+              0.2239631688030145,
+              0.9991754852914668
+            ],
+            "finger_midpoint": [
+              0.271816289400559,
+              0.21150849250941592,
+              0.9991754852914668
+            ],
+            "object_minus_finger_midpoint": [
+              0.005812125882689034,
+              0.012454676293598588,
+              0.0
+            ],
+            "finger_gap": 0.027488162459833515,
+            "fingertip_max_gap": 0.09120071956247075,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01374408122991677,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9991754852914668,
+            "object_top_z": 1.0445529724971565,
+            "finger_top_clearance": 0.04537748720568968,
+            "fingertip_min_top_clearance": 0.013613246161706904,
+            "object_projection_between_fingers": 0.8211707326003446,
+            "object_to_finger_line_xy": 0.010533719240391325,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04810035978123538,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8348838740223677,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
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+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
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+              0.23472764776916105,
+              0.21921172414784987,
+              0.7565885648785112
+            ],
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+              0.2525268334293092,
+              0.222835737987338,
+              0.7730800627579277
+            ],
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20608106901724066,
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+            "gripper_away_ok": true,
+            "object_z": 0.7565885648785112,
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+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539145462596741,
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17669119183388868,
+            "release_required_pad_clearance": 0.053523890574692784,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0493755931405455,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 248,
+            "max_placed_release_frames": 248
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c831253bbb2e07169cf518da7c67e058c2018c109a4ffeb19207150a355c022d",
+    "visual_seed": 7790060464953164809,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_25_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c64640a0228e2b2e93458cc7518e18fddc1ce6e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_25_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+            },
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+          }
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "virtual_attach_allowed": false,
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+            "max_source_tilt_deg": 89.85449033915961,
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+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 4.446801990976425,
+            "source_upright_return_tilt_deg": 4.548604009201386,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.003425057343598e-08,
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+                "fr3_leftfinger",
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+                "gripper",
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+                "panda_leftfinger",
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+                "ridgebase_festo",
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+                "robot",
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+                "ur5e",
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+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0d17d62b23e811f7d9b42173d8865ff4be453e8c847bc2f5a4b52953e267e4c4",
+    "visual_seed": 544113922792603019,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_26_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c82f4e0dbc9674705bddcf3a78841f89cf2d59dd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_26_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+              0.20301569977958034,
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+            "stable_success_frames": 169,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+          }
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "source_tilt_threshold_deg": 30.0,
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+            "max_valid_pour_pose_frames": 220,
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+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "source_name": "beaker",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_held_xy_dist": 0.031083648693453543,
+            "valid_pour_held_gripper_dist": 0.007333145513985889,
+            "valid_pour_required_height": 0.8001464494012566,
+            "valid_pour_held_z": 1.0331569299838472,
+            "valid_pour_source_tilt_deg": 4.021848702835502,
+            "valid_pour_source_upright_tilt_deg": 2.945734236242255,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.1175870895385742e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3782360699389924,
+              -0.01034272806157408,
+              1.0331569299838472
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.36785646747121764,
+              0.014766813981784529,
+              1.0331569299838472
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.37304626870510504,
+              0.0022120429601052245,
+              1.0331569299838472
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3782360699389924,
+              0.014766813981784529,
+              1.0331569299838472
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02717030086355742,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024647036983151627,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.04136255696686822,
+              -0.9986786632036972,
+              0.030496992357264663
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004682013104880988,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.032447379575868185,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3782360699389924,
+              -0.01034272806157408,
+              1.0331569299838472
+            ],
+            "held_grasp_finger_b": [
+              0.36785646747121764,
+              0.014766813981784529,
+              1.0331569299838472
+            ],
+            "held_grasp_midpoint": [
+              0.37304626870510504,
+              0.0022120429601052245,
+              1.0331569299838472
+            ],
+            "held_grasp_object_position": [
+              0.3782360699389924,
+              0.014766813981784529,
+              1.0331569299838472
+            ],
+            "held_grasp_finger_gap": 0.02717030086355742,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024647036983151627,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04136255696686822,
+              -0.9986786632036972,
+              0.030496992357264663
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004682013104880988,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032447379575868185,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25672230673359997,
+              0.22011411963198504,
+              0.7565976063950342
+            ],
+            "target_position": [
+              0.25712350787079014,
+              0.2138066297753891,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.006320236597117489,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21475644397362934,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565976063950342,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754865033153487,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08832340398951845,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18558875540385272,
+            "release_required_pad_clearance": 0.054161701994759226,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.3308380680602268,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 258,
+            "max_placed_release_frames": 258
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8c09fd0396fb14e2f55c816be423c7f7929eafc825bb3f8a78b60aa0badd2502",
+    "visual_seed": 8958287862861106783,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_27_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cccd6881502f99202bd8692673c2d6865701b4c0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_27_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2807849121273771,
+              0.2276493680284347,
+              0.9983967639855338
+            ],
+            "current_z": 0.9983967639855338,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.14181019697232344,
+            "gripper_z": 0.9988325622147147,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27567683796462195,
+              0.22268116531066529,
+              0.9988325622147147
+            ],
+            "object_minus_gripper": [
+              0.005108074162755161,
+              0.004968202717769404,
+              -0.00043579822918093924
+            ],
+            "object_to_gripper_xy": 0.007125690134791025,
+            "object_to_gripper_z": -0.00043579822918093924,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2807849121273771,
+              0.20335437480334206,
+              0.9983967639855338
+            ],
+            "finger_b": [
+              0.2685674112225794,
+              0.2276493680284347,
+              0.9983967639855338
+            ],
+            "finger_midpoint": [
+              0.2746761616749782,
+              0.2155018714158884,
+              0.9983967639855338
+            ],
+            "object_minus_finger_midpoint": [
+              0.006108750452398892,
+              0.012147496612546299,
+              0.0
+            ],
+            "finger_gap": 0.02719400713697836,
+            "fingertip_max_gap": 0.09078654711903006,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01359700356848918,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9983967639855338,
+            "object_top_z": 1.0438347461678938,
+            "finger_top_clearance": 0.04543798218236006,
+            "fingertip_min_top_clearance": 0.013631394654708017,
+            "object_projection_between_fingers": 0.7981548375271637,
+            "object_to_finger_line_xy": 0.010915055667026127,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04789327355951503,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5718246345153939,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
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+                "fr3_leftfinger",
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+                "gripper",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
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+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24907241763237337,
+              0.21762263943011928,
+              0.7565858377035952
+            ],
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+              0.2561869201278011,
+              0.22340436641521358,
+              0.7730800627579277
+            ],
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21054657774066748,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572271864637735,
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1790315317319913,
+            "release_required_pad_clearance": 0.054098884122818686,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.2097248372342464,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "186d9a9b4ea6e672aea0389f18d67d89e73dce012cfbaa30164815663d3d8172",
+    "visual_seed": 6801888353584127465,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_28_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ae56b8f872f0b9b626dfc20f7114cd3e1d9e03b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_28_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+          "skill": "pick",
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+          }
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "wrist_idx": 5,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.8777125787573,
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+            "max_source_upright_tilt_deg": 89.90265948882927,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 3.229741065918561,
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+            "target_xy_drift": 4.7706993203109864e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "joint1",
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+                "left_inner_finger",
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+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
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+                "panda_joint5",
+                "panda_joint6",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "ridgebase_festo",
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+                "ur5e",
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+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7711308475b98b8a4661b7deea48e0293e16a6c52261a622e29face7184854c5",
+    "visual_seed": 2553794305117401698,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_29_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ff9144d97367fb27db68704bae491156eab98d6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_29_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              0.2069232022276344,
+              0.997717792761948
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+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "valid_pour_grasp_frames": 0,
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+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
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+              1.031578498366765
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3668636106154409,
+              0.01308871553644626,
+              1.031578498366765
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3718034714750986,
+              0.00022449082260405078,
+              1.031578498366765
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3767433323347563,
+              0.01308871553644626,
+              1.031578498366765
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027560152597618664,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02482161121545139,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.08277068073532004,
+              -0.9965374158944105,
+              0.00788626230242584
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.003859505816406794,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03197166806590182,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3767433323347563,
+              -0.012639733891238158,
+              1.031578498366765
+            ],
+            "held_grasp_finger_b": [
+              0.3668636106154409,
+              0.01308871553644626,
+              1.031578498366765
+            ],
+            "held_grasp_midpoint": [
+              0.3718034714750986,
+              0.00022449082260405078,
+              1.031578498366765
+            ],
+            "held_grasp_object_position": [
+              0.3767433323347563,
+              0.01308871553644626,
+              1.031578498366765
+            ],
+            "held_grasp_finger_gap": 0.027560152597618664,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02482161121545139,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08277068073532004,
+              -0.9965374158944105,
+              0.00788626230242584
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003859505816406794,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03197166806590182,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25254962422954913,
+              0.21825831266234336,
+              0.7565864210266524
+            ],
+            "target_position": [
+              0.2495998730063209,
+              0.21565279851566904,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.003935700223271139,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2175954438808921,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864210266524,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578939364553708,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08660121405703457,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18673496078316693,
+            "release_required_pad_clearance": 0.053300607028517286,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6192678400563203,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 234,
+            "max_placed_release_frames": 234
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b82b2ba2150d1233568e108e7e951b73d6cb80666fbe22b01332faf9c8bd2409",
+    "visual_seed": 3560392367843733647,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_2_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..01716ff75647f8d87a0b58a948d79a7d3d4ea91a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_2_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27841928598650373,
+              0.22640307570389942,
+              0.9997297207325399
+            ],
+            "current_z": 0.9997297207325399,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14314321332397428,
+            "gripper_z": 1.0003923324079478,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27293080486646404,
+              0.22141004945194126,
+              1.0003923324079478
+            ],
+            "object_minus_gripper": [
+              0.00548848112003969,
+              0.00499302625195816,
+              -0.0006626116754079314
+            ],
+            "object_to_gripper_xy": 0.007419820493635643,
+            "object_to_gripper_z": -0.0006626116754079314,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27841928598650373,
+              0.20150773059513824,
+              0.9997297207325399
+            ],
+            "finger_b": [
+              0.2665861675772788,
+              0.22640307570389942,
+              0.9997297207325399
+            ],
+            "finger_midpoint": [
+              0.27250272678189125,
+              0.21395540314951883,
+              0.9997297207325399
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059165592046124815,
+              0.01244767255438059,
+              0.0
+            ],
+            "finger_gap": 0.027564486198205413,
+            "fingertip_max_gap": 0.09060826091564428,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013782243099102717,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9997297207325399,
+            "object_top_z": 1.045235642540909,
+            "finger_top_clearance": 0.04550592180836921,
+            "fingertip_min_top_clearance": 0.013651776542510763,
+            "object_projection_between_fingers": 0.8157113377956717,
+            "object_to_finger_line_xy": 0.010687286691731199,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04780413045782214,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4641744731355048,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "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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+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25241441423957256,
+              0.21927482494455625,
+              0.7565865682700119
+            ],
+            "target_position": [
+              0.2533348260694992,
+              0.2214336463473928,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0023468420880012482,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2131708800117128,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865682700119,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534486092532401,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08578982211035359,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18270183334501688,
+            "release_required_pad_clearance": 0.052894911055176796,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.829917582039194,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a55411c86c0a60d59a90a0c6a89a57bdcd101f85de0c2dc93142e373f80945a1",
+    "visual_seed": 2421979816459238451,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_30_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b668614e2841e3d7eb447db7ebba74568293b28d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_30_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2804672392184841,
+              0.22621073271703918,
+              1.0001332324363141
+            ],
+            "current_z": 1.0001332324363141,
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+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14354672502774857,
+            "gripper_z": 1.0010012208500148,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.22122942023278291,
+              1.0010012208500148
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+              0.004981312484256262,
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+            "object_to_gripper_xy": 0.007347820528525408,
+            "object_to_gripper_z": -0.0008679884137006155,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2804672392184841,
+              0.2015080548757407,
+              1.0001332324363141
+            ],
+            "finger_b": [
+              0.2684717549629224,
+              0.22621073271703918,
+              1.0001332324363141
+            ],
+            "finger_midpoint": [
+              0.27446949709070323,
+              0.21385939379638993,
+              1.0001332324363141
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+              0.00599774212778087,
+              0.01235133892064924,
+              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": 0.04788296315499482,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4612437580186703,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 172,
+            "max_stable_success_frames": 172,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3686599246269886,
+              0.04762314152591682,
+              0.7701463897966117
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+              0.016353583965822843,
+              1.0336749369462854
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+            "held_position": [
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+            "held_minus_gripper": [
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+              0.004558083862558064,
+              -0.001010325526388467
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+            "max_held_gripper_dist": 0.007402502396332814,
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+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966117,
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+            "gripper_z": 1.0336749369462854,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.29288984729594,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 4.270572890308186,
+            "max_source_tilt_deg": 89.97716765679536,
+            "source_upright_tilt_deg": 3.8350759562123535,
+            "max_source_upright_tilt_deg": 89.88929074213964,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 4.270572890308186,
+            "source_upright_return_tilt_deg": 3.8350759562123535,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.332000937312528e-08,
+            "max_target_xy_drift": 1.0437463019879088e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3687,
+                0.0476,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0476,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_2": [
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+                0.2
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+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.0006995020359786162,
+                  0.0015040151853221483,
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+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
+              "source_return_upright_error_deg": 3.8350715059993647,
+              "source_return_step_error_deg": 4.270568374343605,
+              "source_return_stable_frames": 5,
+              "source_return_effective_target_deg": 8.0,
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+              "source_return_best_wrist_position": -1.6007945537567139,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6007945537567139
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3687,
+              0.0476,
+              0.7701
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+            "pour_controller_controller_target_minus_raw_target": [
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+              0.0,
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.0007,
+              0.0015,
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+              0.3694,
+              0.023,
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+            "pour_controller_controller_t": 0.0,
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+              0.0653,
+              0.0918
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+              0.3,
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+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0006995020359786162,
+                0.0015040151853221483,
+                -0.001830472865034559
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 3.8350715059993647,
+            "pour_controller_source_return_step_error_deg": 4.270568374343605,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 4.263863408238769,
+            "pour_controller_source_return_best_wrist_position": -1.6007945537567139,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6007945537567139,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.031692147606222215,
+            "valid_pour_held_xy_dist": 0.028849022947229453,
+            "valid_pour_held_gripper_dist": 0.007398688792778145,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.032664611419897,
+            "valid_pour_source_tilt_deg": 4.270572890308186,
+            "valid_pour_source_upright_tilt_deg": 3.8350759562123535,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.332000937312528e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37955778211897384,
+              -0.004729035553817974,
+              1.032664611419897
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3695377784864665,
+              0.020911667828380907,
+              1.032664611419897
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3745477803027202,
+              0.008091316137281467,
+              1.032664611419897
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37955778211897384,
+              0.020911667828380907,
+              1.032664611419897
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02752900548020878,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024920516731352822,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.06614465897898972,
+              -0.997760711679794,
+              0.009922011730719826
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004153031357916867,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.032077196876893935,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37955778211897384,
+              -0.004729035553817974,
+              1.032664611419897
+            ],
+            "held_grasp_finger_b": [
+              0.3695377784864665,
+              0.020911667828380907,
+              1.032664611419897
+            ],
+            "held_grasp_midpoint": [
+              0.3745477803027202,
+              0.008091316137281467,
+              1.032664611419897
+            ],
+            "held_grasp_object_position": [
+              0.37955778211897384,
+              0.020911667828380907,
+              1.032664611419897
+            ],
+            "held_grasp_finger_gap": 0.02752900548020878,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024920516731352822,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06614465897898972,
+              -0.997760711679794,
+              0.009922011730719826
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004153031357916867,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032077196876893935,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25054372234294897,
+              0.22970249615180569,
+              0.7565951346061681
+            ],
+            "target_position": [
+              0.2555794497779143,
+              0.22210525939468348,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.009114634229799419,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2116565518510113,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565951346061681,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754155392387391,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08751388987170443,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18340152969340145,
+            "release_required_pad_clearance": 0.053756944935852216,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.51325742329741,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 238,
+            "max_placed_release_frames": 238
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b2fb6c2a6ae30254209b396c6c9d9c8229fe453b60d9a23756881af596404605",
+    "visual_seed": 9117032794123377424,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_31_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..be7249b8373e4955c2b7ccf6a4630943ac2fe158
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_31_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+                "ridgebase_ur16e",
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+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
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+                "ur16e",
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+            "valid_pour_held_grasp_local_up_axis": [
+              -0.04648719119945783,
+              -0.9985627581132136,
+              0.02667131724749905
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004501682643910883,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03237286811002337,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3781045479295646,
+              -0.001950355953801193,
+              1.0374668071255218
+            ],
+            "held_grasp_finger_b": [
+              0.36794348760097023,
+              0.02326824383142645,
+              1.0374668071255218
+            ],
+            "held_grasp_midpoint": [
+              0.3730240177652674,
+              0.010658943938812629,
+              1.0374668071255218
+            ],
+            "held_grasp_object_position": [
+              0.3781045479295646,
+              0.02326824383142645,
+              1.0374668071255218
+            ],
+            "held_grasp_finger_gap": 0.02718869107053184,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024709995403005617,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04648719119945783,
+              -0.9985627581132136,
+              0.02667131724749905
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004501682643910883,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03237286811002337,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25759189000458926,
+              0.2182209764202721,
+              0.7565870772506812
+            ],
+            "target_position": [
+              0.25323257844429303,
+              0.21980075440511754,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.004636733307096134,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21978104177547483,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565870772506812,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753138602164921,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08704330889787949,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1889565026072711,
+            "release_required_pad_clearance": 0.05352165444893975,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.055107150661966,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 229,
+            "max_placed_release_frames": 229
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "975e96bba5bc18399aa8c94edfe9faf7c13ec72a1d9aec57148b741552395b18",
+    "visual_seed": 5730130031774351532,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_32_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4f34c7ba157b3bc53c989f7b829426c95ca11cb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_32_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27545016749242734,
+              0.21596107177974797,
+              1.0001714003558795
+            ],
+            "current_z": 1.0001714003558795,
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+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.14358483334266903,
+            "gripper_z": 1.0009838688437949,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27010776702285977,
+              0.2110153431250243,
+              1.0009838688437949
+            ],
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+              0.005342400469567576,
+              0.0049457286547236745,
+              -0.0008124684879153854
+            ],
+            "object_to_gripper_xy": 0.007280211171620691,
+            "object_to_gripper_z": -0.0008124684879153854,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27545016749242734,
+              0.19128763404831284,
+              1.0001714003558795
+            ],
+            "finger_b": [
+              0.2635251698104869,
+              0.21596107177974797,
+              1.0001714003558795
+            ],
+            "finger_midpoint": [
+              0.2694876686514571,
+              0.20362435291403042,
+              1.0001714003558795
+            ],
+            "object_minus_finger_midpoint": [
+              0.005962498840970221,
+              0.01233671886571755,
+              0.0
+            ],
+            "finger_gap": 0.027404089096360995,
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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": 1.0001714003558795,
+            "object_top_z": 1.0454801380978775,
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+            "fingertip_min_top_clearance": 0.013592621322599401,
+            "object_projection_between_fingers": 0.8106410377190042,
+            "object_to_finger_line_xy": 0.010736743947892678,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047830674753461186,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5236796824015306,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.009502729921833358,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21164300935835137,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864068843334,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752008103364976,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09069764073298321,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18398951767286864,
+            "release_required_pad_clearance": 0.05534882036649161,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.815824846988821,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 251,
+            "max_placed_release_frames": 251
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8f5a149e1956f83af96cb306393ad3bb838941758d810817c638a4a35e4551e0",
+    "visual_seed": 7942217827051757059,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_33_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..46d069a03d8d916a1c111c288822cb318deb5d17
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_33_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.27644059596859516,
+              0.22351317704137666,
+              0.9985480096867015
+            ],
+            "current_z": 0.9985480096867015,
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+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.14196150227813586,
+            "gripper_z": 0.9993029841030037,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.21862493372265537,
+              0.9993029841030037
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+              0.004888243318721286,
+              -0.0007549744163021233
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+            "object_to_gripper_xy": 0.007281268759166591,
+            "object_to_gripper_z": -0.0007549744163021233,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27644059596859516,
+              0.19863568680418794,
+              0.9985480096867015
+            ],
+            "finger_b": [
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+              0.22351317704137666,
+              0.9985480096867015
+            ],
+            "finger_midpoint": [
+              0.2706289414782552,
+              0.2110744319227823,
+              0.9985480096867015
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012438745118594358,
+              0.0
+            ],
+            "finger_gap": 0.02745889349849647,
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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": 0.010530604800463755,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047840263105011965,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4420151012835052,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.042978095679216156,
+              0.7701465090059015
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+              0.011723657396138024,
+              1.0380708810806096
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+              0.03125443828307813,
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+              0.00454331495279069,
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+            "missing_held_position_samples": 0,
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+            "gripper_z": 1.0380708810806096,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.27961195954943,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
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+            "source_start_tilt_deg": 1.1334812712075568,
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+            "source_tilt_deg": 4.415042272399869,
+            "max_source_tilt_deg": 89.82091892811873,
+            "source_upright_tilt_deg": 3.31613692355663,
+            "max_source_upright_tilt_deg": 89.86012257455518,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 4.415042272399869,
+            "source_upright_return_tilt_deg": 3.31613692355663,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 2.60770320892334e-08,
+            "max_target_xy_drift": 8.170199468531202e-08,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3665,
+                0.043,
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+              "controller_target_position": [
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+              ],
+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                "position_threshold_m": 0.015,
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+              "source_return_upright_error_deg": 3.3161349316411015,
+              "source_return_step_error_deg": 4.415040739919532,
+              "source_return_stable_frames": 5,
+              "source_return_effective_target_deg": 8.0,
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+              "source_return_best_wrist_position": -1.6258540153503418,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6258540153503418
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3665,
+              0.043,
+              0.7701
+            ],
+            "pour_controller_controller_target_position": [
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+            ],
+            "pour_controller_controller_target_minus_raw_target": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              -0.0003,
+              0.0002,
+              0.0017
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
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+              0.0169,
+              1.0381
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.066,
+              0.0921
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.0002627804311136285,
+                0.00019174287280002492,
+                0.0016685482330659747
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 3.3161349316411015,
+            "pour_controller_source_return_step_error_deg": 4.415040739919532,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 4.4136291044156835,
+            "pour_controller_source_return_best_wrist_position": -1.6258540153503418,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6258540153503418,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03152230281484897,
+            "valid_pour_held_xy_dist": 0.028439857573351088,
+            "valid_pour_held_gripper_dist": 0.0073206028106273385,
+            "valid_pour_required_height": 0.8001465090059016,
+            "valid_pour_held_z": 1.0371364626832862,
+            "valid_pour_source_tilt_deg": 4.415042272399869,
+            "valid_pour_source_upright_tilt_deg": 3.31613692355663,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 2.60770320892334e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37622948373675724,
+              -0.008991845697054414,
+              1.0371364626832862
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.36604703945466965,
+              0.016266972348928713,
+              1.0371364626832862
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.37113826159571345,
+              0.0036375633259371496,
+              1.0371364626832862
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37622948373675724,
+              0.016266972348928713,
+              1.0371364626832862
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027233987233563527,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024699878178202198,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.050738877606227424,
+              -0.9983255719431186,
+              0.027778025554486156
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0044579713549197115,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.032333640082548604,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37622948373675724,
+              -0.008991845697054414,
+              1.0371364626832862
+            ],
+            "held_grasp_finger_b": [
+              0.36604703945466965,
+              0.016266972348928713,
+              1.0371364626832862
+            ],
+            "held_grasp_midpoint": [
+              0.37113826159571345,
+              0.0036375633259371496,
+              1.0371364626832862
+            ],
+            "held_grasp_object_position": [
+              0.37622948373675724,
+              0.016266972348928713,
+              1.0371364626832862
+            ],
+            "held_grasp_finger_gap": 0.027233987233563527,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024699878178202198,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.050738877606227424,
+              -0.9983255719431186,
+              0.027778025554486156
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0044579713549197115,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032333640082548604,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2583390978266806,
+              0.2202965273793562,
+              0.7565863656340001
+            ],
+            "target_position": [
+              0.2514038073689269,
+              0.21876327395631223,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.007102754380709283,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21936354853865853,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863656340001,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532129165800944,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08683024425433318,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1890259507011302,
+            "release_required_pad_clearance": 0.05341512212716659,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.84476961717504,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "14f53389fa2e342fe211ccd2e1528205afb2809fa9b494cec20c86732513b484",
+    "visual_seed": 5529922345290908230,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_34_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ef125fe03b23f22ddcc52b6d417374b48798582
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_34_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
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+              0.37360453651965053,
+              0.008206025792950608,
+              1.035799257441944
+            ],
+            "held_grasp_object_position": [
+              0.37870354485713853,
+              0.02077406616388274,
+              1.035799257441944
+            ],
+            "held_grasp_finger_gap": 0.027126040978451074,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024732341245827322,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.036515179342015855,
+              -0.9987525068629691,
+              0.03405982549214592
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004656693190918621,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0324616719350775,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24997878012019345,
+              0.22336739934353636,
+              0.7565865112310732
+            ],
+            "target_position": [
+              0.25352925829340833,
+              0.21885425727316887,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.005742329371065041,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21155210664796384,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865112310732,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758884859564063,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08606341813806888,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18176485862818825,
+            "release_required_pad_clearance": 0.05303170906903444,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0943091267677758,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 255,
+            "max_placed_release_frames": 255
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d9663a7b38af0467fe5253512ecfe6fb37df15c5e8eb562b954baed551d919e3",
+    "visual_seed": 4112353321598348719,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_35_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca3ede376e046e7976de788364a098c339391634
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_35_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2790503439955989,
+              0.22439627284256738,
+              0.9996572076975678
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+            "gripper_z": 1.0001873516076027,
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+              0.21945187173864134,
+              1.0001873516076027
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+              0.004944401103926049,
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+            "object_to_gripper_z": -0.0005301439100349192,
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+              0.2790503439955989,
+              0.20004657890277439,
+              0.9996572076975678
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+              0.22439627284256738,
+              0.9996572076975678
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+            "finger_midpoint": [
+              0.27298168732434136,
+              0.2122214258726709,
+              0.9996572076975678
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+              0.012174846969896486,
+              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": 0.8009862161382051,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 172,
+            "max_stable_success_frames": 172,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3605555108792013,
+              0.05175872039669013,
+              0.7701465090059011
+            ],
+            "gripper_position": [
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 265,
+            "max_placed_release_frames": 265
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7bbde80ea3876917f10ac18b2ec20734d2548d0f0a028ad30ec02f1fe423dc88",
+    "visual_seed": 2006997618452406925,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_36_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..62550223c99f0995e189455e9a0c2aa39b2d9ecb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_36_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.27952119126349023,
+              0.2193747418475407,
+              0.9979286819550481
+            ],
+            "current_z": 0.9979286819550481,
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+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.14134211494183768,
+            "gripper_z": 0.9985086886484872,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.21439261409636073,
+              0.9985086886484872
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+              0.004982127751179954,
+              -0.0005800066934390502
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+            "object_to_gripper_z": -0.0005800066934390502,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27952119126349023,
+              0.19500164683075746,
+              0.9979286819550481
+            ],
+            "finger_b": [
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+              0.2193747418475407,
+              0.9979286819550481
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+            "finger_midpoint": [
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+              0.2071881943391491,
+              0.9979286819550481
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012186547508391599,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010901485621634184,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0478278184258054,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04768889289968468,
+              0.7701465090059013
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+            "gripper_position": [
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+              0.014056181117688707,
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+              0.004629276301995014,
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+            "xy_threshold": 0.15,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.32557230247444,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "max_source_tilt_deg": 89.77806562346915,
+            "source_upright_tilt_deg": 3.3863246391925506,
+            "max_source_upright_tilt_deg": 89.71222173868361,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 3.2650950089262007,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 2.2351741790771484e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0477,
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+              "controller_target_position": [
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+                0.0477,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0,
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+              "pour_target_offset": null,
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+              "resolved_tilt_axis_world": null,
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+              "wrist_joint_name": "wrist_3_joint",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_pour_target_offset": null,
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+              -0.0018,
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+            "pour_controller_controller_last_pour_pose_position": [
+              0.3658,
+              0.0195,
+              1.0379
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0661,
+              0.0921
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
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+              0.2
+            ],
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+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0012694653442466611,
+                -0.0017674286402280521,
+                0.001358015189320438
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 3.386325744975037,
+            "pour_controller_source_return_step_error_deg": 3.265093590762011,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.3942815809992477,
+            "pour_controller_source_return_best_wrist_position": -1.6280856132507324,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6280856132507324,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.034111945464372954,
+            "valid_pour_held_xy_dist": 0.031078595410042004,
+            "valid_pour_held_gripper_dist": 0.007204216740400071,
+            "valid_pour_required_height": 0.8001465090059013,
+            "valid_pour_held_z": 1.0356496980322274,
+            "valid_pour_source_tilt_deg": 3.2650950089262007,
+            "valid_pour_source_upright_tilt_deg": 3.3863246391925506,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 2.2351741790771484e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3756880629341515,
+              -0.0061861112354273185,
+              1.0356496980322274
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.36502556476775666,
+              0.01868545741968372,
+              1.0356496980322274
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3703568138509541,
+              0.006249673092128202,
+              1.0356496980322274
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3756880629341515,
+              0.01868545741968372,
+              1.0356496980322274
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.0270607426822376,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02427250190339403,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.05211161987318962,
+              -0.9982539621455548,
+              0.027810180418212815
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004689013904378088,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03250833396276801,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3756880629341515,
+              -0.0061861112354273185,
+              1.0356496980322274
+            ],
+            "held_grasp_finger_b": [
+              0.36502556476775666,
+              0.01868545741968372,
+              1.0356496980322274
+            ],
+            "held_grasp_midpoint": [
+              0.3703568138509541,
+              0.006249673092128202,
+              1.0356496980322274
+            ],
+            "held_grasp_object_position": [
+              0.3756880629341515,
+              0.01868545741968372,
+              1.0356496980322274
+            ],
+            "held_grasp_finger_gap": 0.0270607426822376,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02427250190339403,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05211161987318962,
+              -0.9982539621455548,
+              0.027810180418212815
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004689013904378088,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03250833396276801,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24979634344664237,
+              0.2161488073855757,
+              0.7565916179669496
+            ],
+            "target_position": [
+              0.25480331535965317,
+              0.21588188169231698,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.005014081876415734,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21223431364584722,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565916179669496,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570448317967671,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08878919388992719,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1818740022179845,
+            "release_required_pad_clearance": 0.0543945969449636,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.8111390168492223,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 228,
+            "max_placed_release_frames": 228
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c08298c05b56450380b919f77d0b1b195859f68617be1b94e737e5ff043febcc",
+    "visual_seed": 5448319873876206756,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_37_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bd79c40b695c1e6d79192dfeba29c9eea484057
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_37_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27517011094837596,
+              0.22152294192451757,
+              0.9976207476499748
+            ],
+            "current_z": 0.9976207476499748,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.14103429984605398,
+            "gripper_z": 0.9988829659251592,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2697134970239984,
+              0.21661916347177523,
+              0.9988829659251592
+            ],
+            "object_minus_gripper": [
+              0.0054566139243775735,
+              0.004903778452742341,
+              -0.001262218275184468
+            ],
+            "object_to_gripper_xy": 0.0073363259628571095,
+            "object_to_gripper_z": -0.001262218275184468,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27517011094837596,
+              0.1966014533783965,
+              0.9976207476499748
+            ],
+            "finger_b": [
+              0.2634825774717998,
+              0.22152294192451757,
+              0.9976207476499748
+            ],
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+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03224165400957606,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.22602668553856292,
+              0.23651281604435956,
+              0.7565977000614061
+            ],
+            "target_position": [
+              0.2498552157014711,
+              0.21791510716442797,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.03022703467605301,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.19943505891216493,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565977000614061,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07897518248751882,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09354048511174916,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1760732393580297,
+            "release_required_pad_clearance": 0.05677024255587458,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.924000685042364,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "12c452709bf9e59010903fcdbfd941d1d0cd79fbe4927d5b67ee423a5e9099fa",
+    "visual_seed": 6955251715053228028,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_38_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..251d3344d3bc7c2f1b6df1d492536aecf13504bb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_38_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "object_position": [
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+              0.22789760868539435,
+              0.9976663339717182
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+              0.2230337019099962,
+              0.998125834455073
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+              0.20311984491577403,
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+              0.22789760868539435,
+              0.9976663339717182
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+              0.2155087268005842,
+              0.9976663339717182
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+              0.01238888188481016,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
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+            "stable_success_frames": 167,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7701463897966117
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+              0.01666861207477581,
+              1.033845046389093
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004525819254465137,
+              -0.0006449408631155062
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+            "xy_dist": 0.033012333042142177,
+            "held_xy_dist": 0.03023417414166211,
+            "held_gripper_dist": 0.007219048408227848,
+            "max_held_gripper_dist": 0.0072222221655848535,
+            "held_gripper_threshold": 0.12,
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+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "91caa925f2689a261c929a375aac34d2ec87110957ff054f53d88cfc0a6c642f",
+    "visual_seed": 6277004396019161715,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_39_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3d5f02ef4cc5f218f91038730430740de27652f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_39_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.2739449374919828,
+              0.22702178512924875,
+              0.9974967268767654
+            ],
+            "current_z": 0.9974967268767654,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1409102790728446,
+            "gripper_z": 0.998707549860072,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.22197484854663127,
+              0.998707549860072
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+              0.005046936582617484,
+              -0.0012108229833066586
+            ],
+            "object_to_gripper_xy": 0.007382503596311233,
+            "object_to_gripper_z": -0.0012108229833066586,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2739449374919828,
+              0.20237986281188022,
+              0.9974967268767654
+            ],
+            "finger_b": [
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+              0.22702178512924875,
+              0.9974967268767654
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+            "finger_midpoint": [
+              0.2678714335377856,
+              0.2147008239705645,
+              0.9974967268767654
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+            "object_minus_finger_midpoint": [
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+              0.012320961158684252,
+              0.0
+            ],
+            "finger_gap": 0.02747315301565915,
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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": 0.010895204678418495,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047655657729188936,
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+            "object_tilt_deg": 0.3494020735362421,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.048356852351360086,
+              0.7701463301919672
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+            "gripper_position": [
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+              0.013885832668353554,
+              1.0353224466095328
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+              0.004606770127217129,
+              -0.0013871174855248913
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.28375105418645,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "source_upright_axis_local": [
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+            "max_source_tilt_deg": 89.7409605903109,
+            "source_upright_tilt_deg": 4.16963598799881,
+            "max_source_upright_tilt_deg": 89.8866823666833,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 4.183541999538901,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 6.006850114687196e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0484,
+                0.7701
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+              "controller_target_position": [
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+                0.0484,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                0.0,
+                0.0
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+              "lock_target_position": true,
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+              "pour_pose_offset": [
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+              "resolved_tilt_axis_world": null,
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+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                "pour_height_range_m": [
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+              "wrist_compensated_return_position": -1.6262497901916504
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+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_t": 0.0,
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
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+              "tilt_axis_frame": "end_effector",
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+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                0.0008250155198274269,
+                -0.0018255135994655264,
+                8.46064963998497e-05
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 4.169635490908335,
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+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 4.18183236400668,
+            "pour_controller_source_return_best_wrist_position": -1.6262497901916504,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6262497901916504,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.034887072737428595,
+            "valid_pour_held_xy_dist": 0.03186088646707506,
+            "valid_pour_held_gripper_dist": 0.007481652963831444,
+            "valid_pour_required_height": 0.8001463301919672,
+            "valid_pour_held_z": 1.0339353291240079,
+            "valid_pour_source_tilt_deg": 4.183541999538901,
+            "valid_pour_source_upright_tilt_deg": 4.16963598799881,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.006850114687196e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37566378611178486,
+              -0.00670937835489159,
+              1.0339353291240079
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3652415173103021,
+              0.018492602795570683,
+              1.0339353291240079
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.37045265171104347,
+              0.005891612220339546,
+              1.0339353291240079
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37566378611178486,
+              0.018492602795570683,
+              1.0339353291240079
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027272028543520867,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02444118273865324,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.06659708693280585,
+              -0.9973531576743367,
+              0.029180590965467327
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0043762791889407964,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.032285540855074735,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37566378611178486,
+              -0.00670937835489159,
+              1.0339353291240079
+            ],
+            "held_grasp_finger_b": [
+              0.3652415173103021,
+              0.018492602795570683,
+              1.0339353291240079
+            ],
+            "held_grasp_midpoint": [
+              0.37045265171104347,
+              0.005891612220339546,
+              1.0339353291240079
+            ],
+            "held_grasp_object_position": [
+              0.37566378611178486,
+              0.018492602795570683,
+              1.0339353291240079
+            ],
+            "held_grasp_finger_gap": 0.027272028543520867,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02444118273865324,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06659708693280585,
+              -0.9973531576743367,
+              0.029180590965467327
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0043762791889407964,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032285540855074735,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.23074855662336066,
+              0.24441831649523368,
+              0.7565860008239824
+            ],
+            "target_position": [
+              0.2487609192772333,
+              0.22254418755679806,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.02833589111339067,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2038167303724958,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565860008239824,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08158050495296006,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0893052473212848,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18027450136488551,
+            "release_required_pad_clearance": 0.0546526236606424,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.345716148169033,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0623711ce53637d3b6a8f97af9213e8416d5dd77004838d4e86e71c32e37b151",
+    "visual_seed": 7488971922632220364,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_3_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fe9b713161f02aafe7563e01db108ef2284a33e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_3_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28100953001446943,
+              0.2235581707018044,
+              0.9987143010177923
+            ],
+            "current_z": 0.9987143010177923,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.14212767439993723,
+            "gripper_z": 0.9996882268693746,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2758441663053268,
+              0.21854456466709596,
+              0.9996882268693746
+            ],
+            "object_minus_gripper": [
+              0.005165363709142612,
+              0.005013606034708434,
+              -0.0009739258515822913
+            ],
+            "object_to_gripper_xy": 0.00719841841788822,
+            "object_to_gripper_z": -0.0009739258515822913,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28100953001446943,
+              0.19919652327313678,
+              0.9987143010177923
+            ],
+            "finger_b": [
+              0.26876318642115465,
+              0.2235581707018044,
+              0.9987143010177923
+            ],
+            "finger_midpoint": [
+              0.27488635821781204,
+              0.21137734698747057,
+              0.9987143010177923
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061231717966573895,
+              0.012180823714333822,
+              0.0
+            ],
+            "finger_gap": 0.02726651420413378,
+            "fingertip_max_gap": 0.09059391648742152,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013633257102066905,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9987143010177923,
+            "object_top_z": 1.044305694691016,
+            "finger_top_clearance": 0.045591393673223735,
+            "fingertip_min_top_clearance": 0.01367741810196712,
+            "object_projection_between_fingers": 0.7982778263524271,
+            "object_to_finger_line_xy": 0.010941666495287713,
+            "fingertip_xy_max_dist": 0.055,
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+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2552478955125866,
+              0.2215345557446402,
+              0.7565865057951313
+            ],
+            "target_position": [
+              0.2563807471745083,
+              0.2204702960816739,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.001554349226569106,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21488174745637623,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865057951313,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531141427000632,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09085226034675219,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1849688253815122,
+            "release_required_pad_clearance": 0.055426130173376095,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.982932688679078,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7753a5feeccc139d9e0c50be87d0b4823d4c675d05313e8db18481c29fe4920a",
+    "visual_seed": 7055926350196590098,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_40_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..68d7b9b4d7f3586f46549474cc8badff547fcc6c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_40_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.2193421519808664,
+              0.9962324753221937
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+              0.1946776227664088,
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+            "fingertip_z_max_dist": 0.1,
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+            "stable_success_frames": 164,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
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+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "xy_threshold": 0.15,
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+            "source_tilt_deg": 4.222853637024838,
+            "max_source_tilt_deg": 89.76418234009573,
+            "source_upright_tilt_deg": 4.060227824882477,
+            "max_source_upright_tilt_deg": 89.7947392431653,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
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+                "gripper",
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+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a2852dfea6c6b2e6c7f84f5c64d9f06a87659830c384e1bd0dcdd906ed057d31",
+    "visual_seed": 4300071693903240716,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_41_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d197840d37b39d0ac92b27ceec9aba5b97cf7d56
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_41_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.22066003686889848,
+              0.9997968002091392
+            ],
+            "current_z": 0.9997968002091392,
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+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14321029280057362,
+            "gripper_z": 1.000522821864645,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2694815225336548,
+              0.21569284208420936,
+              1.000522821864645
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+              0.005279881900304817,
+              0.004967194784689127,
+              -0.0007260216555057264
+            ],
+            "object_to_gripper_xy": 0.007249150081920589,
+            "object_to_gripper_z": -0.0007260216555057264,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27476140443395963,
+              0.1960875589879301,
+              0.9997968002091392
+            ],
+            "finger_b": [
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+              0.22066003686889848,
+              0.9997968002091392
+            ],
+            "finger_midpoint": [
+              0.2687519451241416,
+              0.2083737979284143,
+              0.9997968002091392
+            ],
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+              0.006009459309818055,
+              0.012286238940484195,
+              0.0
+            ],
+            "finger_gap": 0.027354361151306662,
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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": 0.010796618875526482,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04777203822088005,
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+            "object_tilt_deg": 0.5479380764649417,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "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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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+      },
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+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.045157379327945495,
+              0.7701463897966117
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+            "gripper_position": [
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+              0.014361384504538596,
+              1.0371916091255187
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+              0.0307959948234069,
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+              0.004489816160095146,
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+            "gripper_z": 1.0371916091255187,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.2902329037088,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.85470743772507,
+            "source_upright_tilt_deg": 4.421453552863783,
+            "max_source_upright_tilt_deg": 89.91969319259661,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 2.9802322387695312e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+                0.7701
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+              "controller_target_position": [
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+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "resolved_tilt_axis_world": null,
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+              "wrist_joint_name": "wrist_3_joint",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
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+            "pour_controller_skill": "pour",
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+            "pour_controller_controller_t": 0.0,
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+            "pour_controller_height_range_1": [
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+              0.4
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+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
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+                0.0,
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+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                0.0013756657567261152,
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+              "use_preinterpolated_cartesian_targets": false
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+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 4.421452186991097,
+            "pour_controller_source_return_step_error_deg": 4.612999282755364,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
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+            "pour_controller_wrist_compensated_return_position": -1.6019208431243896,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03117676430238455,
+            "valid_pour_held_xy_dist": 0.028334359827289126,
+            "valid_pour_held_gripper_dist": 0.00728465413459373,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.0363168743997282,
+            "valid_pour_source_tilt_deg": 4.6130010370620855,
+            "valid_pour_source_upright_tilt_deg": 4.421453552863783,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 2.9802322387695312e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37379321303469626,
+              -0.006838574523268078,
+              1.0363168743997282
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.36404035240649,
+              0.018851200664633742,
+              1.0363168743997282
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.36891678272059314,
+              0.006006313070682832,
+              1.0363168743997282
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37379321303469626,
+              0.018851200664633742,
+              1.0363168743997282
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027478770708278626,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024864250289615326,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.07680526482191943,
+              -0.9970239578039652,
+              0.006646718028615051
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0038764386954535292,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03201902877768246,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37379321303469626,
+              -0.006838574523268078,
+              1.0363168743997282
+            ],
+            "held_grasp_finger_b": [
+              0.36404035240649,
+              0.018851200664633742,
+              1.0363168743997282
+            ],
+            "held_grasp_midpoint": [
+              0.36891678272059314,
+              0.006006313070682832,
+              1.0363168743997282
+            ],
+            "held_grasp_object_position": [
+              0.37379321303469626,
+              0.018851200664633742,
+              1.0363168743997282
+            ],
+            "held_grasp_finger_gap": 0.027478770708278626,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024864250289615326,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07680526482191943,
+              -0.9970239578039652,
+              0.006646718028615051
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038764386954535292,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03201902877768246,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.23037572533191406,
+              0.23616206884704705,
+              0.7565888520472861
+            ],
+            "target_position": [
+              0.24966256210856042,
+              0.2187288467375852,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.025998063504169465,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20482891495029174,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565888520472861,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07844039959686208,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08733354251741592,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18013702332274478,
+            "release_required_pad_clearance": 0.05366677125870796,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3403835168584437,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 228,
+            "max_placed_release_frames": 228
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "de7b034918c98178f10494c9497e5b426efe96dea2a6e2b70edeff62dc86e723",
+    "visual_seed": 3312834008788525059,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_42_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..92a68cb8e804cd02c152475b051c50ed8cb720bd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_42_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2815819015664894,
+              0.21833718991874743,
+              0.9964220853575634
+            ],
+            "current_z": 0.9964220853575634,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.13983545873970826,
+            "gripper_z": 0.9976445729958141,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27599267067462574,
+              0.2133372784451245,
+              0.9976445729958141
+            ],
+            "object_minus_gripper": [
+              0.005589230891863639,
+              0.0049999114736229144,
+              -0.0012224876382507244
+            ],
+            "object_to_gripper_xy": 0.007499241075377486,
+            "object_to_gripper_z": -0.0012224876382507244,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2815819015664894,
+              0.1933646830132213,
+              0.9964220853575634
+            ],
+            "finger_b": [
+              0.2697363064751771,
+              0.21833718991874743,
+              0.9964220853575634
+            ],
+            "finger_midpoint": [
+              0.27565910402083327,
+              0.20585093646598435,
+              0.9964220853575634
+            ],
+            "object_minus_finger_midpoint": [
+              0.005922797545656111,
+              0.01248625345276308,
+              0.0
+            ],
+            "finger_gap": 0.02763954095519446,
+            "fingertip_max_gap": 0.09069151083272364,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01381977047759723,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9964220853575634,
+            "object_top_z": 1.0418160278017827,
+            "finger_top_clearance": 0.04539394244421935,
+            "fingertip_min_top_clearance": 0.01361818273326582,
+            "object_projection_between_fingers": 0.816324126003159,
+            "object_to_finger_line_xy": 0.01070257301658508,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047845755416361824,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.37830830860579917,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
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+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "ridgebase_festo",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
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+                "right_inner_finger",
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+                "robot",
+                "robotiq_2f85",
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+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
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+                "wrist",
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+                "fr3_duo_mobile",
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+                "fr3_joint2",
+                "fr3_joint3",
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+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
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+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25479963662919125,
+              0.21155859204603708,
+              0.7565866964671513
+            ],
+            "target_position": [
+              0.25639066382959996,
+              0.21558882843876404,
+              0.7730800627579277
+            ],
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21228134747911254,
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+            "gripper_away_ok": true,
+            "object_z": 0.7565866964671513,
+            "min_z": 0.5730800627579278,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534977136235334,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08967755585083025,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18157336872391433,
+            "release_required_pad_clearance": 0.054838777925415125,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.734065147126551,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f58a1f00d83e8d903a71b80e6ac8fd9a63d35e50dc846fa8aa9efa68450e3d11",
+    "visual_seed": 5359053106536793392,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_43_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0e0c30e333e1e851b201dba342ed7060868eba0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_43_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "skill": "pick",
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+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "metrics": {
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 6.705522535843667e-08,
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+            "target_upright_reference_source": "scene_initial",
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
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+                "gripper",
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+                "wrist_1_joint",
+                "wrist_2_joint",
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+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "16cd9ca13b4d03b67778506352371fcd5220acd29d9636e794d7dadb60a6d79a",
+    "visual_seed": 2006599899462281466,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_44_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..01f829d61f29582293c974eeebeff732f4208376
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_44_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "reason": "executed",
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+              0.9974900381203566
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+              0.004947070717303853,
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+              0.9974900381203566
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+              0.2082117095427526,
+              0.9974900381203566
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+            "stable_success_frames": 169,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "metrics": {
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+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
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+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.38043018822408575,
+              -0.0038793780548563588,
+              1.0363561052618415
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3698409997774978,
+              0.021251952948199794,
+              1.0363561052618415
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.37513559400079177,
+              0.008686287446671718,
+              1.0363561052618415
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.38043018822408575,
+              0.021251952948199794,
+              1.0363561052618415
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.0272711332720612,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024752727731913535,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.033290849554870376,
+              -0.9989622439155366,
+              0.031083026994662914
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004889183430372638,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03247133802037047,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38043018822408575,
+              -0.0038793780548563588,
+              1.0363561052618415
+            ],
+            "held_grasp_finger_b": [
+              0.3698409997774978,
+              0.021251952948199794,
+              1.0363561052618415
+            ],
+            "held_grasp_midpoint": [
+              0.37513559400079177,
+              0.008686287446671718,
+              1.0363561052618415
+            ],
+            "held_grasp_object_position": [
+              0.38043018822408575,
+              0.021251952948199794,
+              1.0363561052618415
+            ],
+            "held_grasp_finger_gap": 0.0272711332720612,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024752727731913535,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.033290849554870376,
+              -0.9989622439155366,
+              0.031083026994662914
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004889183430372638,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03247133802037047,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24568979693902104,
+              0.21960429154735966,
+              0.7565862475592982
+            ],
+            "target_position": [
+              0.253652408643442,
+              0.21626387309960746,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.008634904780104131,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21078356474252044,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565862475592982,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755199347046747,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08741265433033053,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18193484717248606,
+            "release_required_pad_clearance": 0.05370632716516527,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.420614505894449,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 266,
+            "max_placed_release_frames": 266
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "36ac1c337404db1e95d71a366c62fa814c576816c70b3c73113f89fb47e07ab0",
+    "visual_seed": 7472835142430423142,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_45_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e762b10fbca7f1cd529ba25a724a8eee9fe48bf1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_45_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27702201939738574,
+              0.22330678359783232,
+              0.9971943645233328
+            ],
+            "current_z": 0.9971943645233328,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.14060779751012242,
+            "gripper_z": 0.9976937298865703,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2717463741830818,
+              0.21845410520425637,
+              0.9976937298865703
+            ],
+            "object_minus_gripper": [
+              0.005275645214303959,
+              0.004852678393575949,
+              -0.0004993653632375805
+            ],
+            "object_to_gripper_xy": 0.007168048550246232,
+            "object_to_gripper_z": -0.0004993653632375805,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27702201939738574,
+              0.1985089653407609,
+              0.9971943645233328
+            ],
+            "finger_b": [
+              0.2654592193631329,
+              0.22330678359783232,
+              0.9971943645233328
+            ],
+            "finger_midpoint": [
+              0.27124061938025934,
+              0.2109078744692966,
+              0.9971943645233328
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057814000171264035,
+              0.012398909128535723,
+              0.0
+            ],
+            "finger_gap": 0.027361106244866318,
+            "fingertip_max_gap": 0.09064106361557986,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013680553122433159,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9971943645233328,
+            "object_top_z": 1.042690588161556,
+            "finger_top_clearance": 0.045496223638223254,
+            "fingertip_min_top_clearance": 0.013648867091466992,
+            "object_projection_between_fingers": 0.8214093470304635,
+            "object_to_finger_line_xy": 0.01047955485520838,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04782053180778993,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4937852767727714,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
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+              0.21856177414100328,
+              0.7565888319897118
+            ],
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+              0.2216887637754584,
+              0.7730800627579277
+            ],
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+            "xy_threshold": 0.08,
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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": 0.18066594722343077,
+            "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": 0.8730800627579277,
+            "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": 251,
+            "max_placed_release_frames": 251
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fee7d0c34b076b336b2ea9d4c9943a3813100bbe3a2a557b16794c8bf4174662",
+    "visual_seed": 8834036792338450938,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_46_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1b0b4f08fa7bd5d50a8ae413c121fc8373158ad
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_46_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+          }
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+      },
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+        "ordinary_object_physical_only": true
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
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+            "target_xy_drift": 2.9802322387695312e-08,
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+            "target_upright_reference_source": "scene_initial",
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
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+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_47_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c97ce4e2519b6c247783af31b370f3575f96a4c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_47_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
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+          "target": "beaker_b",
+          "passed": true,
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+              0.9994352563127749
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+              0.21221840747558968,
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+              0.0050773950963418635,
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+              0.19269917585114815,
+              0.9994352563127749
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+              0.21729580257193154,
+              0.9994352563127749
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+              0.20499748921153985,
+              0.9994352563127749
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+              0.012298313360391694,
+              0.0
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+              1.0
+            ],
+            "stable_success_frames": 169,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
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+            },
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+          }
+        },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04939477410786605,
+              0.770146330191967
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+              0.017108799692139118,
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_upright_axis_local": [
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
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+              "controller_target_position": [
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02436622403583699,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.05391958967094663,
+              -0.9980771802192124,
+              0.030571558275343746
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004747374817187706,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03243333324887614,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3817790201671647,
+              -0.0032040397926133145,
+              1.0330042664326926
+            ],
+            "held_grasp_finger_b": [
+              0.37095216294182676,
+              0.02179403072671591,
+              1.0330042664326926
+            ],
+            "held_grasp_midpoint": [
+              0.3763655915544957,
+              0.009294995467051297,
+              1.0330042664326926
+            ],
+            "held_grasp_object_position": [
+              0.3817790201671647,
+              0.02179403072671591,
+              1.0330042664326926
+            ],
+            "held_grasp_finger_gap": 0.02724195967743894,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02436622403583699,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05391958967094663,
+              -0.9980771802192124,
+              0.030571558275343746
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004747374817187706,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03243333324887614,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2424583188179852,
+              0.21858320212900997,
+              0.7565864947153268
+            ],
+            "target_position": [
+              0.2486717114085543,
+              0.21544784050347437,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.006959650853844606,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21245334946713895,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864947153268,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570400009017686,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08613182528594508,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18273705151960204,
+            "release_required_pad_clearance": 0.05306591264297254,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1602689850764467,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 260,
+            "max_placed_release_frames": 260
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "882b11f3ed2f2eb392a4e734f7a1bf648c8264e08153ec3be3b902e9232e8fe7",
+    "visual_seed": 8496696434944216635,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_48_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..892cbe917cc51253509b0b10a58a0f76569ce475
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_48_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2801554832631314,
+              0.21876990078198388,
+              0.9965450729349334
+            ],
+            "current_z": 0.9965450729349334,
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+            "lift_margin": 0.13995862513101265,
+            "gripper_z": 0.9973114262975127,
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+            "gripper_position": [
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+              0.21378057327420907,
+              0.9973114262975127
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+              0.005372939414080957,
+              0.00498932750777481,
+              -0.0007663533625792418
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+            "object_to_gripper_xy": 0.007332248422361521,
+            "object_to_gripper_z": -0.0007663533625792418,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2801554832631314,
+              0.19406370756325805,
+              0.9965450729349334
+            ],
+            "finger_b": [
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+              0.21876990078198388,
+              0.9965450729349334
+            ],
+            "finger_midpoint": [
+              0.27417167398326947,
+              0.20641680417262098,
+              0.9965450729349334
+            ],
+            "object_minus_finger_midpoint": [
+              0.005983809279861918,
+              0.012353096609362901,
+              0.0
+            ],
+            "finger_gap": 0.027452137937728285,
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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": 1.041926598155602,
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+            "fingertip_min_top_clearance": 0.013614457566200588,
+            "object_projection_between_fingers": 0.8099520749183503,
+            "object_to_finger_line_xy": 0.010770538060651084,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047803805409433825,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5591934827616435,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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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+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25513541576326515,
+              0.21924556340480658,
+              0.7565863616597118
+            ],
+            "target_position": [
+              0.25508766327958066,
+              0.21634763777884886,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.002898319035799978,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2155808668198799,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863616597118,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563810631075787,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.090417533007476,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1855075523112516,
+            "release_required_pad_clearance": 0.055208766503738,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.517359296236344,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 229,
+            "max_placed_release_frames": 229
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3ff4743f32a3d2316584e266b05ac9817b2b627c37f775adbfdfb25140f2d5eb",
+    "visual_seed": 1815595877596553895,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_49_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..59ec7f4f55152cb8c0f39fbbe111d8e54b808c11
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_49_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.28076520059600013,
+              0.21838166989495691,
+              0.9987497248194723
+            ],
+            "current_z": 0.9987497248194723,
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+            "initial_z": 0.7565865670132101,
+            "lift_margin": 0.1421631578062622,
+            "gripper_z": 0.999518335395051,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.21336699376719795,
+              0.999518335395051
+            ],
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+              0.005014676127758966,
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+            ],
+            "object_to_gripper_xy": 0.007322893927648829,
+            "object_to_gripper_z": -0.0007686105755786432,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28076520059600013,
+              0.19382262789842944,
+              0.9987497248194723
+            ],
+            "finger_b": [
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+              0.21838166989495691,
+              0.9987497248194723
+            ],
+            "finger_midpoint": [
+              0.2746856995893938,
+              0.20610214889669318,
+              0.9987497248194723
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+              0.006079501006606314,
+              0.012279520998263738,
+              0.0
+            ],
+            "finger_gap": 0.027404157964522603,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_top_z": 1.0441572926400067,
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+            "object_to_finger_line_xy": 0.01089664719729518,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04790298959206385,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5877263260799376,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.36671404159132887,
+              0.045981610982351075,
+              0.770146330191967
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+            "gripper_position": [
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+              0.014655855806111298,
+              1.036671353099318
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+            "held_minus_gripper": [
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+              0.004539587850393392,
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+            "max_held_gripper_dist": 0.007366776917928552,
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+            "target_z": 0.770146330191967,
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+            "gripper_z": 1.036671353099318,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.2839696202399,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              1.0
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+            "source_start_tilt_deg": 0.2075859785268042,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 4.379803394222033,
+            "max_source_tilt_deg": 89.97826819957952,
+            "source_upright_tilt_deg": 4.294280910805563,
+            "max_source_upright_tilt_deg": 89.82117578943507,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 4.379803394222033,
+            "source_upright_return_tilt_deg": 4.294280910805563,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.2013700229374393e-07,
+            "max_target_xy_drift": 2.439709652965209e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3667,
+                0.046,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.046,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+                0.4
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+              "height_range_2": [
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+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  0.0
+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
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+                "use_preinterpolated_cartesian_targets": false
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
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+              "source_return_effective_target_deg": 8.0,
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+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6016180515289307
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3667,
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+            "pour_controller_controller_target_minus_raw_target": [
+              -0.0,
+              0.0,
+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.0019,
+              0.001,
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+            "pour_controller_controller_last_pour_pose_position": [
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+              0.0207,
+              1.0381
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
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+              0.0656,
+              0.0918
+            ],
+            "pour_controller_height_range_1": [
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+            ],
+            "pour_controller_height_range_2": [
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+              0.2
+            ],
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+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0019008232020631035,
+                0.0009989022446590412,
+                0.0016570257930410932
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 4.294273304314237,
+            "pour_controller_source_return_step_error_deg": 4.379797106162799,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 4.376859554195293,
+            "pour_controller_source_return_best_wrist_position": -1.6016180515289307,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6016180515289307,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.0318916205761297,
+            "valid_pour_held_xy_dist": 0.029232265241661507,
+            "valid_pour_held_gripper_dist": 0.007363389976558459,
+            "valid_pour_required_height": 0.800146330191967,
+            "valid_pour_held_z": 1.0357558877502804,
+            "valid_pour_source_tilt_deg": 4.379803394222033,
+            "valid_pour_source_upright_tilt_deg": 4.294280910805563,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.2013700229374393e-07,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3784198765103174,
+              -0.006460982952212683,
+              1.0357558877502804
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3684825195926568,
+              0.01919544365650469,
+              1.0357558877502804
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3734511980514871,
+              0.006367230352146003,
+              1.0357558877502804
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3784198765103174,
+              0.01919544365650469,
+              1.0357558877502804
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027513692751745943,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024844474576774044,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.07445888943005527,
+              -0.9971926148141076,
+              0.007922294178192348
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0040010395758242135,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.032038063117464675,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3784198765103174,
+              -0.006460982952212683,
+              1.0357558877502804
+            ],
+            "held_grasp_finger_b": [
+              0.3684825195926568,
+              0.01919544365650469,
+              1.0357558877502804
+            ],
+            "held_grasp_midpoint": [
+              0.3734511980514871,
+              0.006367230352146003,
+              1.0357558877502804
+            ],
+            "held_grasp_object_position": [
+              0.3784198765103174,
+              0.01919544365650469,
+              1.0357558877502804
+            ],
+            "held_grasp_finger_gap": 0.027513692751745943,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024844474576774044,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07445888943005527,
+              -0.9971926148141076,
+              0.007922294178192348
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040010395758242135,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032038063117464675,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2577932937082379,
+              0.2103138908585787,
+              0.7565864109327609
+            ],
+            "target_position": [
+              0.2558821451837466,
+              0.21490995291426918,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.004977577232190674,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21728834016079868,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864109327609,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584224072559426,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08766485099954714,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18526663953492326,
+            "release_required_pad_clearance": 0.05383242549977357,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6741180769583597,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 228,
+            "max_placed_release_frames": 228
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "66123d0e2d7dd86781b698eaac509040e3eb6931348e8ef00c44f52c75656dfe",
+    "visual_seed": 4289488373009810630,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_4_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..23af4d9cbbad6d4dbd9fbaffb832405ffee9aa5d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_4_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
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+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3786159876225089,
+              -0.005753123762939087,
+              1.0383597919098277
+            ],
+            "held_grasp_finger_b": [
+              0.36886120427137703,
+              0.019800089410992486,
+              1.0383597919098277
+            ],
+            "held_grasp_midpoint": [
+              0.373738595946943,
+              0.0070234828240267,
+              1.0383597919098277
+            ],
+            "held_grasp_object_position": [
+              0.3786159876225089,
+              0.019800089410992486,
+              1.0383597919098277
+            ],
+            "held_grasp_finger_gap": 0.027351828124275532,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024698684213144896,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07912728619636344,
+              -0.9967652041950454,
+              0.014071257413898808
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038554416761325343,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03207901332522979,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2527209973323709,
+              0.21520177143511393,
+              0.7565866386585076
+            ],
+            "target_position": [
+              0.2575863557260614,
+              0.21890108106417702,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.006112004910889193,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21250808399832738,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565866386585076,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542600400799485,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08994099571423304,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1818497097804892,
+            "release_required_pad_clearance": 0.054970497857116524,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.012012620870483,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fee7117a50ca29c536a1be8d2d69f5de3defdcb282b52ca29d367f6a88b492b7",
+    "visual_seed": 3007813043974450598,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_50_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d152a1505b19b367976814b9135012aa9de4c20
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_50_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2771053329121503,
+              0.2238843603205496,
+              0.9995419476436009
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+            "current_z": 0.9995419476436009,
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+            "gripper_z": 1.0003833045375972,
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+            "gripper_position": [
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+              0.218822871766883,
+              1.0003833045375972
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+              0.005061488553666588,
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+            "object_to_gripper_z": -0.0008413568939962257,
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+              0.2771053329121503,
+              0.19939967170880132,
+              0.9995419476436009
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+              0.2238843603205496,
+              0.9995419476436009
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+              0.21164201601467547,
+              0.9995419476436009
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+              0.01224234430587412,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.01098299394949552,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04789654729664461,
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+            "object_tilt_deg": 0.6253847038413348,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+            "release_required_pad_clearance": 0.053386537541815854,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7861338052330016,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 232,
+            "max_placed_release_frames": 232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "43df5110d7abbc6c13c2d0dc3d0b86eb755a79fe64aa03e4eefe434ce3124e53",
+    "visual_seed": 4585290178992344646,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_51_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb8bdc91f4987fc4dadbe7a9ebc30e4aaad5387d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_51_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.27612819198444666,
+              0.22159530167802347,
+              0.9986622523479949
+            ],
+            "current_z": 0.9986622523479949,
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+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1420758045440741,
+            "gripper_z": 0.999432826493553,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.21664337266975983,
+              0.999432826493553
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+              0.004951929008263634,
+              -0.000770574145558145
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+            "object_to_gripper_z": -0.000770574145558145,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27612819198444666,
+              0.19691283118586303,
+              0.9986622523479949
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+            "finger_b": [
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+              0.22159530167802347,
+              0.9986622523479949
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+              0.27017779781053275,
+              0.20925406643194325,
+              0.9986622523479949
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+              0.012341235246080218,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010719804501462947,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047743182954624125,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+            },
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+          }
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04522151765101411,
+              0.7701464494012565
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.98423475952728,
+            "source_upright_tilt_deg": 3.984676387137417,
+            "max_source_upright_tilt_deg": 89.99622596161882,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 4.842877388000488e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+              "controller_target_position": [
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+              "wrist_joint_name": "wrist_3_joint",
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+                "approach_height_range_m": [
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_raw_target_position": [
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+              0.0,
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              -0.0001,
+              -0.0008,
+              0.0006
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+            "pour_controller_controller_last_pour_pose_position": [
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+              0.0182,
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0917
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+            "pour_controller_height_range_1": [
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+            "pour_controller_height_range_2": [
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+              0.2
+            ],
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -5.303204600026453e-05,
+                -0.0008183578419471154,
+                0.0005811825632885729
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 3.9846791232085006,
+            "pour_controller_source_return_step_error_deg": 4.388720478569994,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 4.388184207440738,
+            "pour_controller_source_return_best_wrist_position": -1.6014395952224731,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6014395952224731,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03344838370688507,
+            "valid_pour_held_xy_dist": 0.030356631989483365,
+            "valid_pour_held_gripper_dist": 0.007311936302367777,
+            "valid_pour_required_height": 0.8001464494012566,
+            "valid_pour_held_z": 1.0353009877473436,
+            "valid_pour_source_tilt_deg": 4.388719686815416,
+            "valid_pour_source_upright_tilt_deg": 3.984676387137417,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 4.842877388000488e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3718667011510124,
+              -0.00905065489986409,
+              1.0353009877473436
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.36196830151324,
+              0.01659514052177134,
+              1.0353009877473436
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3669175013321262,
+              0.003772242810953625,
+              1.0353009877473436
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3718667011510124,
+              0.01659514052177134,
+              1.0353009877473436
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027489727866922022,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024900070140320675,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.06907490376146681,
+              -0.9975826727959163,
+              0.007580805214493225
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004052835217642657,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.032066458893278776,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3718667011510124,
+              -0.00905065489986409,
+              1.0353009877473436
+            ],
+            "held_grasp_finger_b": [
+              0.36196830151324,
+              0.01659514052177134,
+              1.0353009877473436
+            ],
+            "held_grasp_midpoint": [
+              0.3669175013321262,
+              0.003772242810953625,
+              1.0353009877473436
+            ],
+            "held_grasp_object_position": [
+              0.3718667011510124,
+              0.01659514052177134,
+              1.0353009877473436
+            ],
+            "held_grasp_finger_gap": 0.027489727866922022,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024900070140320675,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06907490376146681,
+              -0.9975826727959163,
+              0.007580805214493225
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004052835217642657,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032066458893278776,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24961868433197187,
+              0.22195260290864535,
+              0.7565859955843355
+            ],
+            "target_position": [
+              0.2509610354456857,
+              0.22027949442185782,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0021450404474156765,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21371672449891765,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565859955843355,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534719830643272,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08998367470424028,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18422016436117333,
+            "release_required_pad_clearance": 0.05499183735212014,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.057265870259388,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "219fc6cd1101ad32bbc03882c7cd137c32aa5a32745e3943067b68288a69f7e3",
+    "visual_seed": 8616086386080982853,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_53_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed30d84f678e9340e3e2bec07986af7b7044b670
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_53_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27372532384285364,
+              0.22680511393585434,
+              0.9980566804877671
+            ],
+            "current_z": 0.9980566804877671,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.14147011347455674,
+            "gripper_z": 0.9992727335171379,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26828199107909645,
+              0.22180729955495804,
+              0.9992727335171379
+            ],
+            "object_minus_gripper": [
+              0.0054433327637571916,
+              0.004997814380896304,
+              -0.0012160530293707783
+            ],
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+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04445062441229859,
+              -0.9986041714730164,
+              0.028528068740232726
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004873714710931742,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03249402503744496,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24929421502476068,
+              0.22956045672402453,
+              0.7565863254963078
+            ],
+            "target_position": [
+              0.24841188340376272,
+              0.22277158139249478,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.006845972345581454,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2132157308980281,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863254963078,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754294544572812,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08875132245123575,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18437319850336364,
+            "release_required_pad_clearance": 0.05437566122561788,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.7756449341709675,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 252,
+            "max_placed_release_frames": 252
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "76ab101b131414db2e45a5899534c74d5f3c72806c0f3a78d35a199474c2e5d5",
+    "visual_seed": 1434256323377259511,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_54_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc2f2959f6aa8314f8d843cf9debd5dc6295419a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_54_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.21829882401391743,
+              0.996493935094177
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+            "gripper_position": [
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+              0.2133049500808503,
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+            "object_to_gripper_z": -0.0011788891149879799,
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+              0.1936987255951105,
+              0.996493935094177
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+              0.21829882401391743,
+              0.996493935094177
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+              0.20599877480451395,
+              0.996493935094177
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+              0.012300049209403474,
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+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010878824273498088,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_tilt_deg": 0.5400997076161383,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.05230327960722902,
+              0.7701463897966119
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+              0.02076792186813077,
+              1.0345910478924145
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+            "target_minus_gripper": [
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+            "held_position": [
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+              0.025339511365763193,
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+            "held_minus_target": [
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+              -0.026963768241465826,
+              0.26308222710165574
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+            "held_minus_gripper": [
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "79115effd61e19d91457ce28d9a2188c466ad232dcc09dcc996ca6931ff61e43",
+    "visual_seed": 7645526142718470950,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_55_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..48a66625768ed92ddc907c7ffe6a0f7abff9e302
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_55_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.27931411467390566,
+              0.2186989163007118,
+              0.9985204214857191
+            ],
+            "current_z": 0.9985204214857191,
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+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1419339140771535,
+            "gripper_z": 0.9993229183683302,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2739645388524453,
+              0.21366870848305478,
+              0.9993229183683302
+            ],
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+              0.005030207817657034,
+              -0.0008024968826111367
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+            "object_to_gripper_z": -0.0008024968826111367,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27931411467390566,
+              0.19410000582191209,
+              0.9985204214857191
+            ],
+            "finger_b": [
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+              0.2186989163007118,
+              0.9985204214857191
+            ],
+            "finger_midpoint": [
+              0.2732462573042171,
+              0.20639946106131196,
+              0.9985204214857191
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012299455239399848,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010883336115500575,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04783934671813385,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04617341127865769,
+              0.7701463897966119
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+            "gripper_position": [
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+              0.014734947553141767,
+              1.0377705286377072
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+              0.004650109210323251,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "gripper_z": 1.0377705286377072,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.2988184514955,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
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+              0.0,
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 3.718968923700926,
+            "max_source_tilt_deg": 89.89772846514434,
+            "source_upright_tilt_deg": 3.56914293660327,
+            "max_source_upright_tilt_deg": 89.90786663892659,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 3.718968923700926,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 6.50593981019146e-08,
+            "max_target_xy_drift": 1.4466410755327046e-07,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+                0.7701
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+              "controller_target_position": [
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+                0.0462,
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+              ],
+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
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+              "resolved_tilt_axis_world": null,
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+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
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+            "pour_controller_workflow_step_index": 1,
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_raw_target_position": [
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+            ],
+            "pour_controller_lock_target_position": true,
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+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_last_pour_pose_position": [
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+              1.0384
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0926
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.0007610506969425042,
+                -2.7880420247517433e-05,
+                0.001745666527421102
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 3.5691317946862786,
+            "pour_controller_source_return_step_error_deg": 3.7189545327521976,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.717514400065874,
+            "pour_controller_source_return_best_wrist_position": -1.6270755529403687,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6270755529403687,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03164726963110226,
+            "valid_pour_held_xy_dist": 0.02835129788470836,
+            "valid_pour_held_gripper_dist": 0.00738693877761623,
+            "valid_pour_required_height": 0.8001463897966119,
+            "valid_pour_held_z": 1.0367822657808878,
+            "valid_pour_source_tilt_deg": 3.718968923700926,
+            "valid_pour_source_upright_tilt_deg": 3.56914293660327,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.50593981019146e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3790740408182476,
+              -0.005708317673182493,
+              1.0367822657808878
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3685179011416265,
+              0.019385056763465018,
+              1.0367822657808878
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.37379597097993705,
+              0.006838369545141262,
+              1.0367822657808878
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3790740408182476,
+              0.019385056763465018,
+              1.0367822657808878
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027223326863007175,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02446242239737683,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.055160422329471104,
+              -0.9980604076720628,
+              0.028857415787114427
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004592580527486694,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.032386732644391056,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3790740408182476,
+              -0.005708317673182493,
+              1.0367822657808878
+            ],
+            "held_grasp_finger_b": [
+              0.3685179011416265,
+              0.019385056763465018,
+              1.0367822657808878
+            ],
+            "held_grasp_midpoint": [
+              0.37379597097993705,
+              0.006838369545141262,
+              1.0367822657808878
+            ],
+            "held_grasp_object_position": [
+              0.3790740408182476,
+              0.019385056763465018,
+              1.0367822657808878
+            ],
+            "held_grasp_finger_gap": 0.027223326863007175,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02446242239737683,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.055160422329471104,
+              -0.9980604076720628,
+              0.028857415787114427
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004592580527486694,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032386732644391056,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2439842971658881,
+              0.2140313960556302,
+              0.7565865475149034
+            ],
+            "target_position": [
+              0.2544244334258417,
+              0.21470498830866722,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.010461843606637862,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20893028899017485,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865475149034,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522289671172872,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0858629292889689,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17979783373258973,
+            "release_required_pad_clearance": 0.05293146464448445,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9004791763000373,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 253,
+            "max_placed_release_frames": 253
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a80e6839d6ff42db9b4302f09f4efe5b7962d1e5efdc7ddb769e184eb6bfec29",
+    "visual_seed": 6366713646450824391,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_56_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..880f15af06e221c3155e958a72c7e8bee29dd1b3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_56_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2811501455423066,
+              0.2201037704086101,
+              0.9993545525243215
+            ],
+            "current_z": 0.9993545525243215,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.14276798551111114,
+            "gripper_z": 1.000386926358517,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2759057510310614,
+              0.21526114974785016,
+              1.000386926358517
+            ],
+            "object_minus_gripper": [
+              0.005244394511245198,
+              0.004842620660759939,
+              -0.0010323738341955213
+            ],
+            "object_to_gripper_xy": 0.007138252492984385,
+            "object_to_gripper_z": -0.0010323738341955213,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2811501455423066,
+              0.19542404010859984,
+              0.9993545525243215
+            ],
+            "finger_b": [
+              0.2694787688675002,
+              0.2201037704086101,
+              0.9993545525243215
+            ],
+            "finger_midpoint": [
+              0.27531445720490344,
+              0.20776390525860497,
+              0.9993545525243215
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058356883374031665,
+              0.012339865150005125,
+              0.0
+            ],
+            "finger_gap": 0.02730036851704494,
+            "fingertip_max_gap": 0.09021649269386345,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013650184258522458,
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+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25590180700010673,
+              0.22319718621946627,
+              0.7565865106918779
+            ],
+            "target_position": [
+              0.25638877989417613,
+              0.21619898978695862,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0070151190943220035,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21525268047830104,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865106918779,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752318627224541,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08826392711386759,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18718259939351445,
+            "release_required_pad_clearance": 0.054131963556933796,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.2777775794457296,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 253,
+            "max_placed_release_frames": 253
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1ac586f88683af1ec98a2c4504ca72464f7abcb5aa940f719681d152c240e1c7",
+    "visual_seed": 6754623127118663861,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_57_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..28cae88e746171a7eb3a6f8dbb1bc89a95a6cd7b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_57_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "target": "beaker_b",
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+          "skill": "pick",
+          "target": "beaker_b",
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+              0.21227282092470562,
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+              1.0
+            ],
+            "stable_success_frames": 170,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+            },
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+          }
+        },
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "target_position": [
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+            "wrist_idx": 5,
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+            "max_wrist_deg": 121.28025399733141,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "196d973205508e7c69ddcae0b3b0058aa14a69535010ebbdf2e2a5ee93990b4f",
+    "visual_seed": 4792382245936967776,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_58_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b708442254266dae1c5789bbbb0278f044348df3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_58_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.22512266917475598,
+              0.9968456908609317
+            ],
+            "current_z": 0.9968456908609317,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.14025930266165565,
+            "gripper_z": 0.9975987594030339,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2201803492635564,
+              0.9975987594030339
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+              0.004942319911199589,
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+            "object_to_gripper_xy": 0.007109494979911532,
+            "object_to_gripper_z": -0.0007530685421022199,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.20079598653765135,
+              0.9968456908609317
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+            "finger_b": [
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+              0.22512266917475598,
+              0.9968456908609317
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+            "finger_midpoint": [
+              0.2723878066121417,
+              0.21295932785620367,
+              0.9968456908609317
+            ],
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+              0.012163341318552318,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.01086392119830529,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04784873441785474,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.050287446795634995,
+              0.7701464494012566
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+              0.020646008413405803,
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+              0.004474329296012894,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.29479547007438,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.9631895467506,
+            "source_upright_tilt_deg": 4.472627593233142,
+            "max_source_upright_tilt_deg": 89.95499003042612,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 4.26002670044887,
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+            "target_xy_drift": 5.686408848491962e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_tilt_deg": 0.0,
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+              "controller_target_position": [
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+              "pour_pose_offset": [
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+              "resolved_tilt_axis_world": null,
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+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                ],
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+              "wrist_compensated_return_position": -1.627042531967163
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+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_raw_target_position": [
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+            "pour_controller_pour_pose_offset": [
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
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+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
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+              "pour_height_range_m": [
+                0.2,
+                0.2
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+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                0.00195159285626264,
+                0.0002629230739535555
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+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 4.472627378553462,
+            "pour_controller_source_return_step_error_deg": 4.2600263016721645,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 4.468671262647286,
+            "pour_controller_source_return_best_wrist_position": -1.627042531967163,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.627042531967163,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.029807475946544097,
+            "valid_pour_held_xy_dist": 0.026608196127396854,
+            "valid_pour_held_gripper_dist": 0.007149232624684046,
+            "valid_pour_required_height": 0.8001464494012567,
+            "valid_pour_held_z": 1.035206781140339,
+            "valid_pour_source_tilt_deg": 4.26002670044887,
+            "valid_pour_source_upright_tilt_deg": 4.472627593233142,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 5.686408848491962e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37737962736217395,
+              1.044589899705396e-05,
+              1.035206781140339
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.36728538055466703,
+              0.025120337709418697,
+              1.035206781140339
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3723325039584205,
+              0.012565391804207876,
+              1.035206781140339
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37737962736217395,
+              0.025120337709418697,
+              1.035206781140339
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02706289868698369,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024304264408230195,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.07223525757234317,
+              -0.9969547107319418,
+              0.02938319779819098
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004143961768535976,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03231893224355661,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37737962736217395,
+              1.044589899705396e-05,
+              1.035206781140339
+            ],
+            "held_grasp_finger_b": [
+              0.36728538055466703,
+              0.025120337709418697,
+              1.035206781140339
+            ],
+            "held_grasp_midpoint": [
+              0.3723325039584205,
+              0.012565391804207876,
+              1.035206781140339
+            ],
+            "held_grasp_object_position": [
+              0.37737962736217395,
+              0.025120337709418697,
+              1.035206781140339
+            ],
+            "held_grasp_finger_gap": 0.02706289868698369,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024304264408230195,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07223525757234317,
+              -0.9969547107319418,
+              0.02938319779819098
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004143961768535976,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03231893224355661,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2527933057571429,
+              0.22698335547096132,
+              0.7565874310104037
+            ],
+            "target_position": [
+              0.25375353903909365,
+              0.22042136320951333,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.006631876838050384,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21451465208668663,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565874310104037,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545698908211983,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08604237488567827,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1853882973050613,
+            "release_required_pad_clearance": 0.05302118744283914,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.071906136334856,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "48fecd03eca8aebab18d178e6c4fe1d9c1bbcf78f1735f6cfcfb39c4596dc5e3",
+    "visual_seed": 9183324921009720961,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_59_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eff8cc5839bbf00ac5565b195f09902cd86ff6c4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_59_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.279084903490543,
+              0.2215089019165517,
+              0.9981483321589004
+            ],
+            "current_z": 0.9981483321589004,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14156182475033485,
+            "gripper_z": 0.9994588892659095,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27360805127252535,
+              0.21645246267528997,
+              0.9994588892659095
+            ],
+            "object_minus_gripper": [
+              0.005476852218017636,
+              0.005056439241261729,
+              -0.0013105571070091138
+            ],
+            "object_to_gripper_xy": 0.0074540920318021415,
+            "object_to_gripper_z": -0.0013105571070091138,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.279084903490543,
+              0.1967434190034308,
+              0.9981483321589004
+            ],
+            "finger_b": [
+              0.2670029088719341,
+              0.2215089019165517,
+              0.9981483321589004
+            ],
+            "finger_midpoint": [
+              0.2730439061812385,
+              0.20912616045999124,
+              0.9981483321589004
+            ],
+            "object_minus_finger_midpoint": [
+              0.006040997309304463,
+              0.012382741456560459,
+              0.0
+            ],
+            "finger_gap": 0.027555466569887322,
+            "fingertip_max_gap": 0.0904778362340864,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013777733284943675,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9981483321589004,
+            "object_top_z": 1.043665408380789,
+            "finger_top_clearance": 0.04551707622188861,
+            "fingertip_min_top_clearance": 0.013655122866566565,
+            "object_projection_between_fingers": 0.8077520408751625,
+            "object_to_finger_line_xy": 0.010858695878899087,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0477389181170432,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.37689981101255116,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
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+              0.21024218989326807,
+              0.7565863355086686
+            ],
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+              0.21698457844337607,
+              0.7730800627579277
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+            "gripper_dist": 0.21092066424267092,
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+            "object_z": 0.7565863355086686,
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+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522930566502876,
+            "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": 0.18019859574056224,
+            "release_required_pad_clearance": 0.053771181215530456,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.551591285091417,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 229,
+            "max_placed_release_frames": 229
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c8b268a95d39d85a9c82700ecb24df371dcfc774d41b3acfd1f4ec3a13c6a392",
+    "visual_seed": 8596221177560202448,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_5_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea925f169cec79ccda803ad898285b10c4f5999f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_5_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 3.514431838712321e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dc6fadff443d72ef606308e0843358ccb3e62d885351194cc5b9d66b174d2864",
+    "visual_seed": 2805679955748052339,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_60_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c5b455571ae37a6350c52134ed4c06093fdd5d7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_60_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
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+              0.9975131122341039
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+              0.19893503724413678,
+              0.9975131122341039
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+              0.22338834186467516,
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+              0.21116168955440595,
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+              0.0,
+              1.0
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+            },
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+          }
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+      },
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "virtual_attach_allowed": false,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "source_name": "beaker",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+            "pour_controller_source_pose_held_object": "beaker_b",
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+            "valid_pour_pose_failed_keys": [
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+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.0848209096909341e-07,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.372889650887125,
+              -0.009289147094549994,
+              1.0339759231720798
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.36287733804228256,
+              0.015725115602925832,
+              1.0339759231720798
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3678834944647038,
+              0.003217984254187919,
+              1.0339759231720798
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.372889650887125,
+              0.015725115602925832,
+              1.0339759231720798
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026943640192099647,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024359129078299117,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.05933199328801081,
+              -0.9975580675150095,
+              0.036845847909788294
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0042807354602934725,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.032426609948153565,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.372889650887125,
+              -0.009289147094549994,
+              1.0339759231720798
+            ],
+            "held_grasp_finger_b": [
+              0.36287733804228256,
+              0.015725115602925832,
+              1.0339759231720798
+            ],
+            "held_grasp_midpoint": [
+              0.3678834944647038,
+              0.003217984254187919,
+              1.0339759231720798
+            ],
+            "held_grasp_object_position": [
+              0.372889650887125,
+              0.015725115602925832,
+              1.0339759231720798
+            ],
+            "held_grasp_finger_gap": 0.026943640192099647,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024359129078299117,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05933199328801081,
+              -0.9975580675150095,
+              0.036845847909788294
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042807354602934725,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032426609948153565,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24559703933466984,
+              0.22532742048208781,
+              0.7565865434381632
+            ],
+            "target_position": [
+              0.24863938178063172,
+              0.22049598450711372,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.005709520219666029,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21392527291970564,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865434381632,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540384764453004,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09403400145107473,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18514792140346273,
+            "release_required_pad_clearance": 0.057017000725537365,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 9.562784006556225,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 272,
+            "max_placed_release_frames": 272
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8b5293a0b215cfed5556a2a36857388bc2d33d05c61b1da7975c295e680a3c6f",
+    "visual_seed": 3951870395634893714,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_61_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dd3955b069640b02e7a2640c9ce5cad4e911cfe
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_61_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2769312685781245,
+              0.2193399849057378,
+              0.9971010441476029
+            ],
+            "current_z": 0.9971010441476029,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.14051447713439258,
+            "gripper_z": 0.9978719450446976,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27150886203173047,
+              0.21442863128867598,
+              0.9978719450446976
+            ],
+            "object_minus_gripper": [
+              0.005422406546394032,
+              0.0049113536170618255,
+              -0.0007709008970946396
+            ],
+            "object_to_gripper_xy": 0.007316002125902037,
+            "object_to_gripper_z": -0.0007709008970946396,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2769312685781245,
+              0.19442590838594426,
+              0.9971010441476029
+            ],
+            "finger_b": [
+              0.2653013524034433,
+              0.2193399849057378,
+              0.9971010441476029
+            ],
+            "finger_midpoint": [
+              0.2711163104907839,
+              0.20688294664584103,
+              0.9971010441476029
+            ],
+            "object_minus_finger_midpoint": [
+              0.005814958087340616,
+              0.012457038259896774,
+              0.0
+            ],
+            "finger_gap": 0.027494838771381057,
+            "fingertip_max_gap": 0.09062424354765894,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01374741938569054,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9971010441476029,
+            "object_top_z": 1.04258889294258,
+            "finger_top_clearance": 0.045487848794977026,
+            "fingertip_min_top_clearance": 0.013646354638493124,
+            "object_projection_between_fingers": 0.8210833268019112,
+            "object_to_finger_line_xy": 0.010538291346388487,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04781212177382947,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4797650628659482,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 165,
+            "max_stable_success_frames": 165,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "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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+                "wrist",
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+                "wrist_2_joint",
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+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2546135598036673,
+              0.2213122440247087,
+              0.7565862845298531
+            ],
+            "target_position": [
+              0.25161635910060404,
+              0.21634688822581793,
+              0.7730800627579277
+            ],
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21638263050093,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565862845298531,
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+            "min_z_margin": 0.2,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580397918125632,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18638381587194558,
+            "release_required_pad_clearance": 0.05366667679786323,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.343058469391465,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 236,
+            "max_placed_release_frames": 236
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "defaad702fc0589a70f2e00bf14f18f419103a1b8853bdb7312197df5bb70c3a",
+    "visual_seed": 7707788961912101918,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_62_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a91c12596ee68ad69a7ef4951074be60c68d3b7e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_62_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "skill": "pick",
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+        "ordinary_object_physical_only": true
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "metrics": {
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_upright_tilt_deg": 89.73563877065145,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
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+            "target_xy_drift": 2.60770320892334e-08,
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+            "target_upright_reference_source": "scene_initial",
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+            "max_target_tilt_deg": 0.0,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+              "controller_target_position": [
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+                0.0449,
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+              "controller_target_minus_raw_target": [
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+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "403647bf179e2056b71b0b157f5eff21cf5a61bd6f398ed83f1ccbfb1295e131",
+    "visual_seed": 805534608264604120,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_63_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf603f71b4cfe88d6bd2f5130b5a17642e20d9f1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_63_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
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+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
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+              0.9969272260263339
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+              0.22003613638047764,
+              0.9977862927468092
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+              0.004889449624253139,
+              -0.00085906672047531
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+            "object_to_gripper_z": -0.00085906672047531,
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+              0.20046413597448698,
+              0.9969272260263339
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+              0.22492558600473078,
+              0.9969272260263339
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+              0.21269486098960888,
+              0.9969272260263339
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+              0.012230725015121902,
+              0.0
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+            },
+            "failed_keys": []
+          }
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "virtual_attach_allowed": false,
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+              0.04380527403824784,
+              0.7701463897966117
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+              0.013879951298387885,
+              1.0363791472596702
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
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+            "source_return_ok": true,
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_held_grasp_object_position": [
+              0.37067020888583685,
+              0.01832026615654505,
+              1.0353800377167197
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02733335967654985,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.0245920889473992,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.0891742945156594,
+              -0.9960155713672367,
+              -0.0009627001772845032
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0036862413740945637,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03204006682337861,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37067020888583685,
+              -0.007237770633168872,
+              1.0353800377167197
+            ],
+            "held_grasp_finger_b": [
+              0.36098004342474843,
+              0.01832026615654505,
+              1.0353800377167197
+            ],
+            "held_grasp_midpoint": [
+              0.3658251261552926,
+              0.0055412477616880885,
+              1.0353800377167197
+            ],
+            "held_grasp_object_position": [
+              0.37067020888583685,
+              0.01832026615654505,
+              1.0353800377167197
+            ],
+            "held_grasp_finger_gap": 0.02733335967654985,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0245920889473992,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0891742945156594,
+              -0.9960155713672367,
+              -0.0009627001772845032
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036862413740945637,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03204006682337861,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.26318820496056966,
+              0.22301577995981742,
+              0.7565910494142333
+            ],
+            "target_position": [
+              0.25515518824559535,
+              0.22127717476039388,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.008219008795622446,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.22216331577653164,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565910494142333,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525927021706456,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08913505472115564,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.19208975977529832,
+            "release_required_pad_clearance": 0.05456752736057782,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.153374181495284,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cf7572700a9a8c5776fc8bd97c92282fdbdb0791feccb9d8d315a6570cc95801",
+    "visual_seed": 4035171192735901857,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_64_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e90a7a458ce0f68b8eef7cdf3a3cc4014195af5c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_64_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28186220346316504,
+              0.2183460481611962,
+              0.9981918052171443
+            ],
+            "current_z": 0.9981918052171443,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.14160535741322355,
+            "gripper_z": 0.9987902609616347,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2764927298659816,
+              0.21342008353718134,
+              0.9987902609616347
+            ],
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+              0.005369473597183427,
+              0.0049259646240148725,
+              -0.000598455744490356
+            ],
+            "object_to_gripper_xy": 0.007286725889444169,
+            "object_to_gripper_z": -0.000598455744490356,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28186220346316504,
+              0.19355375598411084,
+              0.9981918052171443
+            ],
+            "finger_b": [
+              0.27010187120992085,
+              0.2183460481611962,
+              0.9981918052171443
+            ],
+            "finger_midpoint": [
+              0.2759820373365429,
+              0.2059499020726535,
+              0.9981918052171443
+            ],
+            "object_minus_finger_midpoint": [
+              0.005880166126622122,
+              0.012396146088542698,
+              0.0
+            ],
+            "finger_gap": 0.027440174308860792,
+            "fingertip_max_gap": 0.09043456754899476,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01372008715443042,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9981918052171443,
+            "object_top_z": 1.0435227233426194,
+            "finger_top_clearance": 0.04533091812547507,
+            "fingertip_min_top_clearance": 0.013599275437642538,
+            "object_projection_between_fingers": 0.8163184855071577,
+            "object_to_finger_line_xy": 0.010625500772707578,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04771728377449738,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4932422859284757,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_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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+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2564339463430844,
+              0.21375987994547813,
+              0.7565865658995827
+            ],
+            "target_position": [
+              0.2568847148350684,
+              0.2170647791924057,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0033354986532313116,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21705558944474884,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865658995827,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755747954002874,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08742597818811841,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1858179030996882,
+            "release_required_pad_clearance": 0.05371298909405921,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4351226122418415,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 228,
+            "max_placed_release_frames": 228
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "699495ba6846e45e2de2da8bb0549fe0615ce3e361968d69230c471f79dcce59",
+    "visual_seed": 4369388060803852761,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_65_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5af5e7f5ce34b44b2110649107795c327d598f0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_65_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2812999100851936,
+              0.22560286621628345,
+              0.9971601435484191
+            ],
+            "current_z": 0.9971601435484191,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14057363613985352,
+            "gripper_z": 0.9980461487214649,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2206935128557096,
+              0.9980461487214649
+            ],
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+              0.004909353360573854,
+              -0.0008860051730458229
+            ],
+            "object_to_gripper_xy": 0.007171406930980936,
+            "object_to_gripper_z": -0.0008860051730458229,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2812999100851936,
+              0.200990723635092,
+              0.9971601435484191
+            ],
+            "finger_b": [
+              0.26945833794073326,
+              0.22560286621628345,
+              0.9971601435484191
+            ],
+            "finger_midpoint": [
+              0.27537912401296344,
+              0.2132967949256877,
+              0.9971601435484191
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059207860722301775,
+              0.012306071290595744,
+              0.0
+            ],
+            "finger_gap": 0.027312641638797173,
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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": 0.8120287984592263,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048097195879098026,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6098319277538174,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3679494968659108,
+              0.04650965970628716,
+              0.7701464494012565
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+            "gripper_position": [
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+              0.014656318540197305,
+              1.0334309823113408
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+              -0.26328453291008425
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+            "held_minus_target": [
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+              0.0044764757610238765,
+              -0.0010281029293752741
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+            "xy_threshold": 0.15,
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+            "gripper_z": 1.0334309823113408,
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+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.32231430224036,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 4.460560572330833,
+            "max_source_tilt_deg": 89.99503412522549,
+            "source_upright_tilt_deg": 4.438747680574813,
+            "max_source_upright_tilt_deg": 89.82222333554331,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 4.460560572330833,
+            "source_upright_return_tilt_deg": 4.438747680574813,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 2.60770320892334e-08,
+            "max_target_xy_drift": 8.568167686462402e-08,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3679,
+                0.0465,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0465,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
+                -0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                0.0012,
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+                0.4
+              ],
+              "height_range_2": [
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+                0.2
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+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  0.0
+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
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+                  0.0018720462509535002,
+                  0.001182462557113764,
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+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
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+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6018909215927124
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3679,
+              0.0465,
+              0.7701
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
+              0.0,
+              -0.0,
+              -0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              0.0012,
+              -0.0014
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.3698,
+              0.0216,
+              1.0348
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0018720462509535002,
+                0.001182462557113764,
+                -0.0014190578694489044
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 4.438748870017151,
+            "pour_controller_source_return_step_error_deg": 4.460561568793911,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 4.45952678229538,
+            "pour_controller_source_return_best_wrist_position": -1.6018909215927124,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6018909215927124,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.032456292400217475,
+            "valid_pour_held_xy_dist": 0.029813731063302974,
+            "valid_pour_held_gripper_dist": 0.007225894380510474,
+            "valid_pour_required_height": 0.8001464494012566,
+            "valid_pour_held_z": 1.0324028793819655,
+            "valid_pour_source_tilt_deg": 4.460560572330833,
+            "valid_pour_source_upright_tilt_deg": 4.438747680574813,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 2.60770320892334e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.379754826192442,
+              -0.006480932254068842,
+              1.0324028793819655
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.36999668495667026,
+              0.01913279430122118,
+              1.0324028793819655
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3748757555745561,
+              0.00632593102357617,
+              1.0324028793819655
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.379754826192442,
+              0.01913279430122118,
+              1.0324028793819655
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02740956600215403,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024781756879528178,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.07738614414425955,
+              -0.9970006413809198,
+              0.0010515609912968849
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.00387338957753625,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.032054201601795215,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.379754826192442,
+              -0.006480932254068842,
+              1.0324028793819655
+            ],
+            "held_grasp_finger_b": [
+              0.36999668495667026,
+              0.01913279430122118,
+              1.0324028793819655
+            ],
+            "held_grasp_midpoint": [
+              0.3748757555745561,
+              0.00632593102357617,
+              1.0324028793819655
+            ],
+            "held_grasp_object_position": [
+              0.379754826192442,
+              0.01913279430122118,
+              1.0324028793819655
+            ],
+            "held_grasp_finger_gap": 0.02740956600215403,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024781756879528178,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07738614414425955,
+              -0.9970006413809198,
+              0.0010515609912968849
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00387338957753625,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032054201601795215,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24300051128597047,
+              0.22007690718372688,
+              0.7565863223639269
+            ],
+            "target_position": [
+              0.2565928600881246,
+              0.22119910454939756,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.013638594974810963,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20720745562095932,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863223639269,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559549112111617,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08769517955902788,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17750603814071902,
+            "release_required_pad_clearance": 0.05384758977951394,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7017822724383636,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 263,
+            "max_placed_release_frames": 263
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fae16ad9f7e20fccfc461e9012ce07b8b65ed854f8f651b8d19c132c412cf238",
+    "visual_seed": 1460669960667693108,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_66_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7a0445748e00000d861ef39592c83db9259ae18
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_66_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 66,
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+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37773203438044267,
+              -0.001485121529460956,
+              1.035234172043997
+            ],
+            "held_grasp_finger_b": [
+              0.3674495537887221,
+              0.02373538160901589,
+              1.035234172043997
+            ],
+            "held_grasp_midpoint": [
+              0.3725907940845824,
+              0.011125130039777466,
+              1.035234172043997
+            ],
+            "held_grasp_object_position": [
+              0.37773203438044267,
+              0.02373538160901589,
+              1.035234172043997
+            ],
+            "held_grasp_finger_gap": 0.027236064063609303,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024445205117721778,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0686446490767534,
+              -0.9972458618879846,
+              0.028082077922054197
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004278579199075318,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032271785135092705,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2514283844601265,
+              0.21932916836498775,
+              0.756586460025262
+            ],
+            "target_position": [
+              0.24848105662852868,
+              0.21986004065275958,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.002994756539826766,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21768902669900292,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756586460025262,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570604041596457,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08520252895557047,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18638024603073175,
+            "release_required_pad_clearance": 0.05260126447778524,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2654079257648282,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 229,
+            "max_placed_release_frames": 229
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e7b46e33e2379f7eba7a43e9f392c4259e452b61cbbb8d031d549659704c74d7",
+    "visual_seed": 8621811513892151955,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_67_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa2210631f655519f349ab8af07e5a868565ac52
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_67_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.27844172856070093,
+              0.22534613700221692,
+              1.0006592033127069
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+            "current_z": 1.0006592033127069,
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+            "gripper_z": 1.0012819575686773,
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+            "gripper_position": [
+              0.272892978040696,
+              0.22037181868634642,
+              1.0012819575686773
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+              0.004974318315870502,
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+            "object_to_gripper_xy": 0.007452011476162634,
+            "object_to_gripper_z": -0.0006227542559704702,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.27844172856070093,
+              0.2003503839818255,
+              1.0006592033127069
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+            "finger_b": [
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+              0.22534613700221692,
+              1.0006592033127069
+            ],
+            "finger_midpoint": [
+              0.27257694891723405,
+              0.2128482604920212,
+              1.0006592033127069
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058647796434668775,
+              0.01249787651019571,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "fingertip_min_top_clearance": 0.013652456963395298,
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+            "object_to_finger_line_xy": 0.010618543608875942,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04778984178901349,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4485118558978198,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 171,
+            "max_stable_success_frames": 171,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
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+            "release_finger_gap": 0.07592450643889201,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08593818275076136,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18665790883509048,
+            "release_required_pad_clearance": 0.05296909137538068,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9731654098324168,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d6c5b6b4e2b3fc8679a010b2e9e6e56defc2dfc2deb3cf20d42c4a512d2a95ba",
+    "visual_seed": 4992917162416302138,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_68_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..49c7a104a27cc4c67ae9b39357476960330ff013
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_68_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2795662257909393,
+              0.22733393998627843,
+              0.9965172491536309
+            ],
+            "current_z": 0.9965172491536309,
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+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.13993074174506537,
+            "gripper_z": 0.9975400193420348,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.22236633197673789,
+              0.9975400193420348
+            ],
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+              0.004967608009540547,
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+            "object_to_gripper_z": -0.0010227701884039098,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2795662257909393,
+              0.20277164864205166,
+              0.9965172491536309
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+            "finger_b": [
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+              0.22733393998627843,
+              0.9965172491536309
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+            "finger_midpoint": [
+              0.27355793914884696,
+              0.21505279431416505,
+              0.9965172491536309
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+              0.012281145672113386,
+              0.0
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047733749332214706,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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+            },
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+          }
+        },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7701464494012566
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+              0.017060110464208703,
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+            "wrist_idx": 5,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.82317465819736,
+            "source_upright_tilt_deg": 4.356702280577033,
+            "max_source_upright_tilt_deg": 89.6617141838111,
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 4.273060339194013,
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+            "target_xy_drift": 6.064333243705223e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+              "controller_target_position": [
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+              "resolved_tilt_axis_world": null,
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+              "wrist_joint_name": "wrist_3_joint",
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+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3639,
+              0.0489,
+              0.7701
+            ],
+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.0008,
+              0.001,
+              -0.001
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.3647,
+              0.0236,
+              1.0354
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.0705,
+              0.0656,
+              0.0916
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0007693153976865257,
+                0.0009529417767767533,
+                -0.0009951489202562561
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 4.356692365454544,
+            "pour_controller_source_return_step_error_deg": 4.273048064450821,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 4.356852668540126,
+            "pour_controller_source_return_best_wrist_position": -1.6014546155929565,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6014546155929565,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.0322225853736928,
+            "valid_pour_held_xy_dist": 0.029355625230072905,
+            "valid_pour_held_gripper_dist": 0.007305015675664605,
+            "valid_pour_required_height": 0.8001464494012567,
+            "valid_pour_held_z": 1.0332525759712106,
+            "valid_pour_source_tilt_deg": 4.273060339194013,
+            "valid_pour_source_upright_tilt_deg": 4.356702280577033,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.064333243705223e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3747872421754759,
+              -0.004015607127430336,
+              1.0332525759712106
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.36488511122216205,
+              0.021579801391251985,
+              1.0332525759712106
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.36983617669881896,
+              0.008782097131910825,
+              1.0332525759712106
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3747872421754759,
+              0.021579801391251985,
+              1.0332525759712106
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027444072851069524,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024772514155310895,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.07563372243129549,
+              -0.9971104450504799,
+              0.0070922776609316784
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.003970014120412876,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.032065032864154054,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3747872421754759,
+              -0.004015607127430336,
+              1.0332525759712106
+            ],
+            "held_grasp_finger_b": [
+              0.36488511122216205,
+              0.021579801391251985,
+              1.0332525759712106
+            ],
+            "held_grasp_midpoint": [
+              0.36983617669881896,
+              0.008782097131910825,
+              1.0332525759712106
+            ],
+            "held_grasp_object_position": [
+              0.3747872421754759,
+              0.021579801391251985,
+              1.0332525759712106
+            ],
+            "held_grasp_finger_gap": 0.027444072851069524,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024772514155310895,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07563372243129549,
+              -0.9971104450504799,
+              0.0070922776609316784
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003970014120412876,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032065032864154054,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2536827829126955,
+              0.21836599030712028,
+              0.7565864943566184
+            ],
+            "target_position": [
+              0.25478480513879403,
+              0.22368913555423198,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.005436021367568649,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21495447671073323,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864943566184,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554538907394573,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08618770722516135,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18367037652018728,
+            "release_required_pad_clearance": 0.05309385361258068,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2156140506809165,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "70d7d52c3ce750a6fe1f1d086a17217f12b9af29656a4284b6e103d7c54be00f",
+    "visual_seed": 3537843367624333584,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_69_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..650c703c73b6d74061fd32a2b40bc0d80548030e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_69_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27615292765801336,
+              0.21960288690337904,
+              0.998354927323531
+            ],
+            "current_z": 0.998354927323531,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.14176847951961025,
+            "gripper_z": 0.9991158181744939,
+            "force_virtual_attach": false,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025031968436365504,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05991073048673325,
+              -0.9981908470875301,
+              0.005073180779849972
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004165404721234045,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032091994863428716,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24966668587002538,
+              0.22012477983137516,
+              0.7565864424068409
+            ],
+            "target_position": [
+              0.25092131033897114,
+              0.21813782882834692,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0023499057101322826,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21565258169024795,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864424068409,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532220081028596,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09048202172945961,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1859212311554106,
+            "release_required_pad_clearance": 0.05524101086472981,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.586324032137284,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 230,
+            "max_placed_release_frames": 230
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "59bfed2e4881c82777cca8161d393e25611b02071a29fc72c5330fcc6b38bbad",
+    "visual_seed": 5283554606869088943,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_6_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d184acb0a47fedb79a7eb7e27d7a5d86498808ab
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_6_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2749909472850768,
+              0.22567038210738208,
+              0.9978620745938063
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+            "lift_margin": 0.1412755671852407,
+            "gripper_z": 0.9992194645873356,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2206374731115831,
+              0.9992194645873356
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+              0.005032908995798974,
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+            "object_to_gripper_z": -0.001357389993529301,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2749909472850768,
+              0.20116497546014306,
+              0.9978620745938063
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+            "finger_b": [
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+              0.22567038210738208,
+              0.9978620745938063
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+              0.21341767878376255,
+              0.9978620745938063
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+              0.012252703323619524,
+              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": 0.010935010710244594,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_tilt_deg": 0.4746550392528206,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3674682191616717,
+              0.05050818887227035,
+              0.7701464494012565
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+            "gripper_position": [
+              0.3727461377520147,
+              0.019742210251336503,
+              1.0356714741556634
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+            "target_minus_gripper": [
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+              0.030765978620933845,
+              -0.26552502475440687
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+            "held_position": [
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+              0.024332758010211862,
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+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c7be598acbbdf161a59ba84f0e4c88870afbd01a6a8105ce7891edec2a64ddbb",
+    "visual_seed": 1577219549939003383,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_70_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e927504621da9ffc7935ba5ff2c5b601a9391ace
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_70_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+              0.9990447976478375
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+            "lift_margin": 0.1424582902392718,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.214330919466021,
+              0.9994762106136803
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+              0.004927214387582118,
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+            "object_to_gripper_z": -0.0004314129658428145,
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+              0.19500094927733796,
+              0.9990447976478375
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+              0.9990447976478375
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+              0.20712954156547053,
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+              0.0
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+              1.0
+            ],
+            "stable_success_frames": 170,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+          }
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "target_position": [
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
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+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+              "controller_target_position": [
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
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+            ],
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+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0013817966736982272,
+                -0.00030832448841155015,
+                3.6073129883483056e-05
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 3.566899776281636,
+            "pour_controller_source_return_step_error_deg": 3.4795609839764654,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.566944036485617,
+            "pour_controller_source_return_best_wrist_position": -1.6285321712493896,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6285321712493896,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03308454812481333,
+            "valid_pour_held_xy_dist": 0.030179062974543897,
+            "valid_pour_held_gripper_dist": 0.007057924721026801,
+            "valid_pour_required_height": 0.800146330191967,
+            "valid_pour_held_z": 1.0345870726663593,
+            "valid_pour_source_tilt_deg": 3.4795613277424073,
+            "valid_pour_source_upright_tilt_deg": 3.5669010271622317,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.664001874625056e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37802472451403896,
+              -0.00750207974693268,
+              1.0345870726663593
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.36759662558569534,
+              0.017369658449767726,
+              1.0345870726663593
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.37281067504986715,
+              0.004933789351417523,
+              1.0345870726663593
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37802472451403896,
+              0.017369658449767726,
+              1.0345870726663593
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026969401331592948,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024249327016460556,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.055065714066783976,
+              -0.998062842813377,
+              0.02895391043703388
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0045359935606866806,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.032501330743732196,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37802472451403896,
+              -0.00750207974693268,
+              1.0345870726663593
+            ],
+            "held_grasp_finger_b": [
+              0.36759662558569534,
+              0.017369658449767726,
+              1.0345870726663593
+            ],
+            "held_grasp_midpoint": [
+              0.37281067504986715,
+              0.004933789351417523,
+              1.0345870726663593
+            ],
+            "held_grasp_object_position": [
+              0.37802472451403896,
+              0.017369658449767726,
+              1.0345870726663593
+            ],
+            "held_grasp_finger_gap": 0.026969401331592948,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024249327016460556,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.055065714066783976,
+              -0.998062842813377,
+              0.02895391043703388
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0045359935606866806,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032501330743732196,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.26097873062531307,
+              0.21765338237498189,
+              0.7565863717742692
+            ],
+            "target_position": [
+              0.2579701879522737,
+              0.21655800456834226,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.003201746641253394,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2175288687426589,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863717742692,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521491263411188,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08760840737336613,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18756445311055048,
+            "release_required_pad_clearance": 0.053804203686683066,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.617313667612154,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "57a0730fba4f97f2622d983aaab2cb265c5e8b019ad7088c4af9a85e6cd422a4",
+    "visual_seed": 4260085702903776478,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_71_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e5abf568a7a1ee12e6165d9bd4ae977d80ff6c0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_71_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.276373464765164,
+              0.21738200711585537,
+              0.997015446074223
+            ],
+            "current_z": 0.997015446074223,
+            "required_z": 0.8565865074085653,
+            "initial_z": 0.7565865074085654,
+            "lift_margin": 0.14042893866565764,
+            "gripper_z": 0.9977609101857137,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2710425423280315,
+              0.21249139864948816,
+              0.9977609101857137
+            ],
+            "object_minus_gripper": [
+              0.005330922437132513,
+              0.004890608466367213,
+              -0.000745464111490679
+            ],
+            "object_to_gripper_xy": 0.00723441671470655,
+            "object_to_gripper_z": -0.000745464111490679,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.276373464765164,
+              0.192601210723726,
+              0.997015446074223
+            ],
+            "finger_b": [
+              0.26468274703854755,
+              0.21738200711585537,
+              0.997015446074223
+            ],
+            "finger_midpoint": [
+              0.2705281059018558,
+              0.20499160891979068,
+              0.997015446074223
+            ],
+            "object_minus_finger_midpoint": [
+              0.005845358863308225,
+              0.01239039819606469,
+              0.0
+            ],
+            "finger_gap": 0.027400013700573156,
+            "fingertip_max_gap": 0.09043025190361642,
+            "finger_z_skew": 0.0,
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2504240281681155,
+              0.21374904290846455,
+              0.7565863988335697
+            ],
+            "target_position": [
+              0.2511535695682088,
+              0.21542666730808796,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0018293863125818657,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21415557978425498,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863988335697,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527928929061083,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09037445977779159,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1838012501267035,
+            "release_required_pad_clearance": 0.055187229888895795,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.468895988003447,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 229,
+            "max_placed_release_frames": 229
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "234826d7ab8f70deee863a2923242b0304145d09a825a8c0d62ca4f1d54607fc",
+    "visual_seed": 8591370091151514386,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_72_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..40032e8bb35014c20273828d22417febf473cc29
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_72_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+      "target": "beaker_b",
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+          "skill": "pick",
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+              0.22365238392843975,
+              1.0000658404418978
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+              0.21124951247913532,
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+            ],
+            "stable_success_frames": 172,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
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+              ],
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+          }
+        },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "force_virtual_attach": false,
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+            "target_position": [
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+              0.004608576241931544,
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+            "xy_threshold": 0.15,
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+            "gripper_z": 1.0376364987736217,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.2950413568845,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4a01e989bf6be50846113e3f3a90a020ef4c1af56dfc60f6d33cfd1997f80e3e",
+    "visual_seed": 7438159957314979676,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_73_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..94656e9c0331ea91b05b0e04b7a7dd1117e2f983
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_73_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2806871696581693,
+              0.2247427681152964,
+              0.9983697582763706
+            ],
+            "current_z": 0.9983697582763706,
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+            "initial_z": 0.7565864478039206,
+            "lift_margin": 0.14178331047245007,
+            "gripper_z": 0.998689692244698,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.275351659324097,
+              0.21987545506183603,
+              0.998689692244698
+            ],
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+              0.005335510334072313,
+              0.004867313053460359,
+              -0.0003199339683273017
+            ],
+            "object_to_gripper_xy": 0.007222077740192088,
+            "object_to_gripper_z": -0.0003199339683273017,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2806871696581693,
+              0.19988369922918658,
+              0.9983697582763706
+            ],
+            "finger_b": [
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+              0.2247427681152964,
+              0.9983697582763706
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+            "finger_midpoint": [
+              0.2749083102871015,
+              0.21231323367224147,
+              0.9983697582763706
+            ],
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+              0.012429534443054918,
+              0.0
+            ],
+            "finger_gap": 0.027414488293722825,
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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": 0.01364912904659295,
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+            "object_to_finger_line_xy": 0.010480375314640434,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04781815809249547,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4839498860752578,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.36481238520209236,
+              0.04291836809986092,
+              0.7701464494012565
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+            "gripper_position": [
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+              0.008803241795241612,
+              1.033464113483342
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+              0.034115126304619305,
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+              0.013422863542170491,
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+            "held_minus_target": [
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+              0.2628277885778775
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+              0.004619621746928879,
+              -0.0004898755042079816
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+            "held_gripper_dist": 0.007229643452330875,
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+            "missing_held_position_samples": 0,
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+            "required_height": 0.8001464494012566,
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+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.34725815308924,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 3.721137750057422,
+            "max_source_tilt_deg": 89.87349598010825,
+            "source_upright_tilt_deg": 2.625056075526123,
+            "max_source_upright_tilt_deg": 89.678677313108,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 3.721137750057422,
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+            "target_xy_drift": 1.197320124506071e-07,
+            "max_target_xy_drift": 1.494301193962364e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0429,
+                0.7701
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+              "controller_target_position": [
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+                0.0429,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0,
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
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+              "wrist_compensated_return_position": -1.6272016763687134
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_t": 0.0,
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+                0.4
+              ],
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+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                -0.0011003920019153216,
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+            },
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+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 2.625055021104985,
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+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.717427523672402,
+            "pour_controller_source_return_best_wrist_position": -1.6272016763687134,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6272016763687134,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03474573856212797,
+            "valid_pour_held_xy_dist": 0.03189207891119079,
+            "valid_pour_held_gripper_dist": 0.007229643452330875,
+            "valid_pour_required_height": 0.8001464494012566,
+            "valid_pour_held_z": 1.032974237979134,
+            "valid_pour_source_tilt_deg": 3.721137750057422,
+            "valid_pour_source_upright_tilt_deg": 2.625056075526123,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.197320124506071e-07,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3769416847764653,
+              -0.011609900555368783,
+              1.032974237979134
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3664360775051726,
+              0.013422863542170491,
+              1.032974237979134
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.37168888114081894,
+              0.0009064814934008538,
+              1.032974237979134
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3769416847764653,
+              0.013422863542170491,
+              1.032974237979134
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02714787399598151,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02462061830021797,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.03673062410105517,
+              -0.9989506438208825,
+              0.02735822477777683
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004801938137416209,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03250403830406663,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3769416847764653,
+              -0.011609900555368783,
+              1.032974237979134
+            ],
+            "held_grasp_finger_b": [
+              0.3664360775051726,
+              0.013422863542170491,
+              1.032974237979134
+            ],
+            "held_grasp_midpoint": [
+              0.37168888114081894,
+              0.0009064814934008538,
+              1.032974237979134
+            ],
+            "held_grasp_object_position": [
+              0.3769416847764653,
+              0.013422863542170491,
+              1.032974237979134
+            ],
+            "held_grasp_finger_gap": 0.02714787399598151,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02462061830021797,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03673062410105517,
+              -0.9989506438208825,
+              0.02735822477777683
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004801938137416209,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03250403830406663,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25692160575227824,
+              0.22180728759507806,
+              0.7565863491271188
+            ],
+            "target_position": [
+              0.255818933146331,
+              0.22333956361067606,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0018877914778606755,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2175912126301457,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863491271188,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547375238982433,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08593302215588967,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18689596032565972,
+            "release_required_pad_clearance": 0.05296651107794484,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9683277555753428,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "05ee5681883e2992b816519f38c11cd721a51b2aaaba749b5bfd16e995731e71",
+    "visual_seed": 8609345166601220160,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_74_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d61f1db93d84c0793a12a238dfb488052eb8bba8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_74_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2767769201156227,
+              0.22154561776239323,
+              0.9983424221177033
+            ],
+            "current_z": 0.9983424221177033,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14175591470913773,
+            "gripper_z": 0.9988799013726997,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2716153960841913,
+              0.21665641639495423,
+              0.9988799013726997
+            ],
+            "object_minus_gripper": [
+              0.0051615240314314415,
+              0.004889201367439006,
+              -0.0005374792549963647
+            ],
+            "object_to_gripper_xy": 0.007109544312993043,
+            "object_to_gripper_z": -0.0005374792549963647,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2767769201156227,
+              0.1970578213698094,
+              0.9983424221177033
+            ],
+            "finger_b": [
+              0.26486497943769544,
+              0.22154561776239323,
+              0.9983424221177033
+            ],
+            "finger_midpoint": [
+              0.27082094977665905,
+              0.20930171956610133,
+              0.9983424221177033
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059559703389636676,
+              0.012243898196291902,
+              0.0
+            ],
+            "finger_gap": 0.027231351469934436,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013615675734967218,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9983424221177033,
+            "object_top_z": 1.0436057151221747,
+            "finger_top_clearance": 0.045263293004471405,
+            "fingertip_min_top_clearance": 0.013578987901341438,
+            "object_projection_between_fingers": 0.8086507991561621,
+            "object_to_finger_line_xy": 0.010711814222062252,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04779502761818792,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5383956395152922,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
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+              0.25038375289568304,
+              0.2261531559970612,
+              0.756592498704341
+            ],
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+              0.2198110566744659,
+              0.7730800627579277
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1847549557462857,
+            "release_required_pad_clearance": 0.05302989509115727,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.069619862239359,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 263,
+            "max_placed_release_frames": 263
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e9809b28abca31b2ae7f0aa106b0ac25452c53f67a0abb601d7f1213ddfea346",
+    "visual_seed": 5308716790046749551,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_75_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..32cc3a03c48d495b14ae862d8baf10e3f3d00e6c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_75_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+      "target": "beaker_b",
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                {
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+          }
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "max_source_tilt_deg": 89.88732233873576,
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+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 4.256952104893478,
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+            "target_xy_drift": 3.0719530773294423e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "077cd1ecbe87e5005c1e739c05368e0f18eacbe193e954b926cf526cddea2adb",
+    "visual_seed": 7463015444458453367,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_76_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2775e27b6a641efb22fdfed0ccd32a8aed5f4ffa
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_76_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
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+          "checker": "PickSuccessChecker",
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+              0.9994397910755526
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+              0.19972098387291928,
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+              0.9994397910755526
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+              0.21208094791094984,
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+              1.0
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
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+            "virtual_attach_allowed": false,
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+            "source_tilt_threshold_deg": 30.0,
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+            "missing_target_orientation_samples": 0,
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+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "source_name": "beaker",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_pose_failed_keys": [
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+            "valid_pour_source_tilt_deg": 4.0390980138662655,
+            "valid_pour_source_upright_tilt_deg": 3.0313708175053007,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 4.485843546238652e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3769812959301248,
+              -0.00354153098649849,
+              1.0345031457799903
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3667670115428389,
+              0.021518175968105457,
+              1.0345031457799903
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.37187415373648186,
+              0.008988322490803485,
+              1.0345031457799903
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3769812959301248,
+              0.021518175968105457,
+              1.0345031457799903
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027061421215357068,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.0245848133056165,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.04306014380529931,
+              -0.9986007380506798,
+              0.030698370968254333
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004579335778512692,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03246798975841777,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3769812959301248,
+              -0.00354153098649849,
+              1.0345031457799903
+            ],
+            "held_grasp_finger_b": [
+              0.3667670115428389,
+              0.021518175968105457,
+              1.0345031457799903
+            ],
+            "held_grasp_midpoint": [
+              0.37187415373648186,
+              0.008988322490803485,
+              1.0345031457799903
+            ],
+            "held_grasp_object_position": [
+              0.3769812959301248,
+              0.021518175968105457,
+              1.0345031457799903
+            ],
+            "held_grasp_finger_gap": 0.027061421215357068,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0245848133056165,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04306014380529931,
+              -0.9986007380506798,
+              0.030698370968254333
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004579335778512692,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03246798975841777,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2472990510022814,
+              0.2263517233785619,
+              0.756586238348696
+            ],
+            "target_position": [
+              0.2567394044786666,
+              0.22212742118704923,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.010342388639203101,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20922431998493582,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756586238348696,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535941072114147,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08626214693928257,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18069984259986419,
+            "release_required_pad_clearance": 0.053131073469641285,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2869234297986465,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 250,
+            "max_placed_release_frames": 250
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1f48af7f079d61ce3cac61da254de7c53aab53b88af2d720d1e0d56450e941fc",
+    "visual_seed": 7323463978834086913,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_77_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3944c57f5eaf796e2ded8eb84a2a001176b4f1ac
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_77_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27893389433604016,
+              0.21826019375242187,
+              0.9977511416802924
+            ],
+            "current_z": 0.9977511416802924,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.14116469387637165,
+            "gripper_z": 0.9987320553184372,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2735752061664261,
+              0.21335545643258735,
+              0.9987320553184372
+            ],
+            "object_minus_gripper": [
+              0.005358688169614045,
+              0.004904737319834512,
+              -0.000980913638144787
+            ],
+            "object_to_gripper_xy": 0.0072644330181879276,
+            "object_to_gripper_z": -0.000980913638144787,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27893389433604016,
+              0.19350468845981644,
+              0.9977511416802924
+            ],
+            "finger_b": [
+              0.2671616897309999,
+              0.21826019375242187,
+              0.9977511416802924
+            ],
+            "finger_midpoint": [
+              0.27304779203352003,
+              0.20588244110611914,
+              0.9977511416802924
+            ],
+            "object_minus_finger_midpoint": [
+              0.005886102302520124,
+              0.012377752646302725,
+              0.0
+            ],
+            "finger_gap": 0.027412038296251266,
+            "fingertip_max_gap": 0.0908129876186419,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013706019148125645,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9977511416802924,
+            "object_top_z": 1.0432603099505113,
+            "finger_top_clearance": 0.04550916827021889,
+            "fingertip_min_top_clearance": 0.013652750481065666,
+            "object_projection_between_fingers": 0.8155694150859083,
+            "object_to_finger_line_xy": 0.01063134635433373,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04790649380932095,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.41635381955303524,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
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+                "panda_leftfingertip",
+                "panda_rightfinger",
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+                "ridgebase_festo",
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+                "ridgebase_rizon4",
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+                "robot",
+                "robotiq_2f85",
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+                "shoulder_pan_joint",
+                "split_aloha",
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+                "Robotiq_2F_85",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+              "ignored_prim_substrings": [
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25563945345115946,
+              0.21101306265645106,
+              0.7565868943423922
+            ],
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+              0.7730800627579277
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18279178279197333,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8604014550503303,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
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+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "70b40f4cef99d6991886aa74e21b0d62884879853c2bea48d2dd98168c5d7383",
+    "visual_seed": 4235760207622835540,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_78_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f0d2d3459cade8045adf70be4a93531966a9929
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_78_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "failure_messages": {},
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+              "allowed_objects": [
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+              "allowed_object_paths": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
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+            "forbidden": [],
+            "disturbances": [],
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+    {
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+      "reason": "executed",
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+            "max_end_effector_tilt_deg": null,
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+            "source_tilt_threshold_deg": 30.0,
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+            "max_valid_pour_pose_frames": 220,
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+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8e4add028f995ef907738e0078ebfbec6622714164264c8df22b471864202d66",
+    "visual_seed": 4941003956316318057,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_79_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4598fe0fd737c51560cff57458d8abea9a3f687c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_79_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+      "reason": "executed",
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+              0.9978959492222003
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+              0.21055040174655582,
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+              0.012217962277816213,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "missing_target_orientation_samples": 0,
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+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
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+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
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+              1.0348496972273589
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.37565192725816154,
+              0.008398457078927286,
+              1.0348496972273589
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.38098304616723977,
+              0.020797621243569035,
+              1.0348496972273589
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02699333997892575,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02421447655497577,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.05101633931259685,
+              -0.9983908821830569,
+              0.024758422746197776
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004701869619011359,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03254903834596022,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38098304616723977,
+              -0.004000707085714464,
+              1.0348496972273589
+            ],
+            "held_grasp_finger_b": [
+              0.37032080834908326,
+              0.020797621243569035,
+              1.0348496972273589
+            ],
+            "held_grasp_midpoint": [
+              0.37565192725816154,
+              0.008398457078927286,
+              1.0348496972273589
+            ],
+            "held_grasp_object_position": [
+              0.38098304616723977,
+              0.020797621243569035,
+              1.0348496972273589
+            ],
+            "held_grasp_finger_gap": 0.02699333997892575,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02421447655497577,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05101633931259685,
+              -0.9983908821830569,
+              0.024758422746197776
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004701869619011359,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03254903834596022,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25285561089558917,
+              0.22001939903878884,
+              0.7565868515317613
+            ],
+            "target_position": [
+              0.2553616688763922,
+              0.21761934230873484,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0034699566150924992,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21403127982825015,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565868515317613,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557401809762845,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.089029387739484,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18402513296850853,
+            "release_required_pad_clearance": 0.054514693869742004,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.059208921272443,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e98583ab345193965819b1e3ebdd0c5cc4752148139ac4c2987d9ba5859cdc0b",
+    "visual_seed": 5679392124823243711,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_7_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..59a298c280925a6e12d98af1c9cf8bc5bd46267f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_7_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2819384517291506,
+              0.22567003988737966,
+              0.9973285622366685
+            ],
+            "current_z": 0.9973285622366685,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14074205482810298,
+            "gripper_z": 0.9977366483496922,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2767937747139664,
+              0.2207244920691771,
+              0.9977366483496922
+            ],
+            "object_minus_gripper": [
+              0.005144677015184229,
+              0.004945547818202556,
+              -0.0004080861130236757
+            ],
+            "object_to_gripper_xy": 0.007136255657744681,
+            "object_to_gripper_z": -0.0004080861130236757,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2819384517291506,
+              0.20122564452834166,
+              0.9973285622366685
+            ],
+            "finger_b": [
+              0.2699076306927617,
+              0.22567003988737966,
+              0.9973285622366685
+            ],
+            "finger_midpoint": [
+              0.2759230412109561,
+              0.21344784220786067,
+              0.9973285622366685
+            ],
+            "object_minus_finger_midpoint": [
+              0.006015410518194486,
+              0.012222197679518987,
+              0.0
+            ],
+            "finger_gap": 0.027244616335683213,
+            "fingertip_max_gap": 0.09064586458962284,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013622308167841607,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9973285622366685,
+            "object_top_z": 1.04271686239905,
+            "finger_top_clearance": 0.04538830016238138,
+            "fingertip_min_top_clearance": 0.013616490048714397,
+            "object_projection_between_fingers": 0.805002456588395,
+            "object_to_finger_line_xy": 0.01079428472340597,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047822932294811424,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5867825253112148,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "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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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2569552739900831,
+              0.2209093357940371,
+              0.7565864017325915
+            ],
+            "target_position": [
+              0.257270828674154,
+              0.22356297153688617,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.002672331830885763,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21581371345837963,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864017325915,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543455793283912,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08549446923498309,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18508246122931174,
+            "release_required_pad_clearance": 0.05274723461749155,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.545362016762252,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f56fd3d9ad3f411448d86d8b69445e96ceaede7b063b77b4ec7b6243098c4161",
+    "visual_seed": 9029807216764214526,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_80_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..04cad70df1a11dddcb2c1ed056caf9f5a3364d06
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_80_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2765936866556803,
+              0.2186224451277863,
+              1.0002071155464138
+            ],
+            "current_z": 1.0002071155464138,
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+            "lift_margin": 0.14362048892855872,
+            "gripper_z": 1.0010248211791446,
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+            "gripper_position": [
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+              0.21367456786714006,
+              1.0010248211791446
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+              0.004947877260646244,
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+            "object_to_gripper_z": -0.0008177056327307586,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.19397700795126965,
+              1.0002071155464138
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+            "finger_b": [
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+              0.2186224451277863,
+              1.0002071155464138
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+              0.27063123738546613,
+              0.206299726539528,
+              1.0002071155464138
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+              0.012322718588258313,
+              0.0
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04815000609177489,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
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+            },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.770146330191967
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+              0.011490894386037995,
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+              0.004491959255250175,
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+            "gripper_z": 1.0356519190100157,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.29290350767428,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 4.629632511947336,
+            "max_source_tilt_deg": 89.90584365575035,
+            "source_upright_tilt_deg": 4.20196103037401,
+            "max_source_upright_tilt_deg": 89.82373529799274,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 4.629632511947336,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 7.028863677424642e-08,
+            "max_target_xy_drift": 1.2731557705468744e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0458,
+                0.7701
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+              "controller_target_position": [
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+                0.0458,
+                0.7701
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+              "controller_target_minus_raw_target": [
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+                0.0,
+                0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_2": [
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+                0.2
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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+                "tilt_axis_frame": "end_effector",
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+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
+                  0.001177390935600087,
+                  -0.0019379568823201018,
+                  0.0008464180800483202
+                ],
+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
+              "source_return_upright_error_deg": 4.201957555505564,
+              "source_return_step_error_deg": 4.6296150190249,
+              "source_return_stable_frames": 5,
+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 4.625707051453642,
+              "source_return_best_wrist_position": -1.6019742488861084,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6019742488861084
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3628,
+              0.0458,
+              0.7701
+            ],
+            "pour_controller_controller_target_position": [
+              0.3628,
+              0.0458,
+              0.7701
+            ],
+            "pour_controller_controller_target_minus_raw_target": [
+              -0.0,
+              0.0,
+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.0012,
+              -0.0019,
+              0.0008
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.364,
+              0.0176,
+              1.0372
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.0698,
+              0.065,
+              0.091
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.001177390935600087,
+                -0.0019379568823201018,
+                0.0008464180800483202
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 4.201957555505564,
+            "pour_controller_source_return_step_error_deg": 4.6296150190249,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 4.625707051453642,
+            "pour_controller_source_return_best_wrist_position": -1.6019742488861084,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6019742488861084,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.034712603230753876,
+            "valid_pour_held_xy_dist": 0.031795779321597314,
+            "valid_pour_held_gripper_dist": 0.007303718982123485,
+            "valid_pour_required_height": 0.800146330191967,
+            "valid_pour_held_z": 1.0346902547263785,
+            "valid_pour_source_tilt_deg": 4.629632511947336,
+            "valid_pour_source_upright_tilt_deg": 4.20196103037401,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 7.028863677424642e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37389007472218494,
+              -0.009704679282560254,
+              1.0346902547263785
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.364115431937274,
+              0.01598285364128817,
+              1.0346902547263785
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3690027533297295,
+              0.003139087179363958,
+              1.0346902547263785
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37389007472218494,
+              0.01598285364128817,
+              1.0346902547263785
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02748441356999286,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02490258641959659,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.07324028863426348,
+              -0.997311970534779,
+              0.0021664599709884107
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.003933615633208999,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.032033034097148784,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37389007472218494,
+              -0.009704679282560254,
+              1.0346902547263785
+            ],
+            "held_grasp_finger_b": [
+              0.364115431937274,
+              0.01598285364128817,
+              1.0346902547263785
+            ],
+            "held_grasp_midpoint": [
+              0.3690027533297295,
+              0.003139087179363958,
+              1.0346902547263785
+            ],
+            "held_grasp_object_position": [
+              0.37389007472218494,
+              0.01598285364128817,
+              1.0346902547263785
+            ],
+            "held_grasp_finger_gap": 0.02748441356999286,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02490258641959659,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07324028863426348,
+              -0.997311970534779,
+              0.0021664599709884107
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003933615633208999,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032033034097148784,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24208736994789265,
+              0.21916200626724125,
+              0.7565867189562905
+            ],
+            "target_position": [
+              0.25164604839055266,
+              0.21442606960779703,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.010667587806643111,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20856764586483803,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565867189562905,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522380227348462,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09034563328202004,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18037438158471722,
+            "release_required_pad_clearance": 0.05517281664101002,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.438747424852194,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 261,
+            "max_placed_release_frames": 261
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "30c3ef8b641861de89d854d948c3e7cfb2815c758647bff2c5440ba69f84c786",
+    "visual_seed": 2835665123682770317,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_81_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..150117f38d52d48e00d0f9e303807aacf165c73e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_81_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
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+                "panda_leftfinger",
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+                "ridgebase_ur16e",
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+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
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+                "ur16e",
+                "ur5e",
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+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004821096489085974,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.032479668549788177,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3786297490370448,
+              -0.00863227520636763,
+              1.033966080461852
+            ],
+            "held_grasp_finger_b": [
+              0.3679454615076378,
+              0.016389077825595302,
+              1.033966080461852
+            ],
+            "held_grasp_midpoint": [
+              0.3732876052723413,
+              0.0038784013096138364,
+              1.033966080461852
+            ],
+            "held_grasp_object_position": [
+              0.3786297490370448,
+              0.016389077825595302,
+              1.033966080461852
+            ],
+            "held_grasp_finger_gap": 0.02720702312935326,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024522713525401793,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.042978968139692916,
+              -0.9984237521772282,
+              0.03609458942822541
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004821096489085974,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032479668549788177,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2462748671827587,
+              0.22311200239936263,
+              0.7565863718194275
+            ],
+            "target_position": [
+              0.256354641902012,
+              0.2207706948141247,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.010348119616606236,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20934266239937008,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863718194275,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515291287729962,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08517293363794799,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18109412084540663,
+            "release_required_pad_clearance": 0.052586466818974,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2373881284899951,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 252,
+            "max_placed_release_frames": 252
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b4555abea7051d08cdc1a92b59f3787a45fb3ccea20364a844610c8fafbc6415",
+    "visual_seed": 2152968619171906658,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_82_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e41b0d6c480184d1cbfe6a6fad46190a145b933
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_82_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2754342339414681,
+              0.22062834167248083,
+              0.9966099812622543
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+            "lift_margin": 0.1400235930629785,
+            "gripper_z": 0.9978901323941751,
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+            "gripper_position": [
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+              0.21568669243625122,
+              0.9978901323941751
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+              0.004941649236229612,
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+            "object_to_gripper_z": -0.0012801511319208148,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2754342339414681,
+              0.19626994554982188,
+              0.9966099812622543
+            ],
+            "finger_b": [
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+              0.22062834167248083,
+              0.9966099812622543
+            ],
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+              0.20844914361115136,
+              0.9966099812622543
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012179198061329471,
+              0.0
+            ],
+            "finger_gap": 0.027207704348295406,
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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": 0.013643932534464998,
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+            "object_to_finger_line_xy": 0.010851971643128934,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047965669823415394,
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+            "object_tilt_deg": 0.6808424480886455,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546534418228114,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08646738243059697,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18150875363898492,
+            "release_required_pad_clearance": 0.05323369121529849,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4867157040609749,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 269,
+            "max_placed_release_frames": 269
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7a289b484609931caacd11f1015854b19a5884ca42aadd3a0ce50f23dc318f09",
+    "visual_seed": 870473657207803679,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_83_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..118fde342b62fe71472c7f053ac91af2ca12e69d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_83_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2773437789804754,
+              0.22481336395322402,
+              0.9997294596543613
+            ],
+            "current_z": 0.9997294596543613,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.143142892641151,
+            "gripper_z": 1.0004376133343993,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2718685238560453,
+              0.21983348568993671,
+              1.0004376133343993
+            ],
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+              0.0054752551244300895,
+              0.004979878263287302,
+              -0.0007081536800379595
+            ],
+            "object_to_gripper_xy": 0.007401189512150011,
+            "object_to_gripper_z": -0.0007081536800379595,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2773437789804754,
+              0.19993879722416794,
+              0.9997294596543613
+            ],
+            "finger_b": [
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+              0.22481336395322402,
+              0.9997294596543613
+            ],
+            "finger_midpoint": [
+              0.2714286457207278,
+              0.21237608058869598,
+              0.9997294596543613
+            ],
+            "object_minus_finger_midpoint": [
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+              0.01243728336452804,
+              0.0
+            ],
+            "finger_gap": 0.027544496290194783,
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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": 0.010683540946307213,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04782504965386947,
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+            "object_tilt_deg": 0.4794851932775475,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
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+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.052432129948072205,
+              0.7701463897966117
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+              0.022652270819027084,
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+              0.004729738892348068,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.25828810896066,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 3.3094231085384513,
+            "max_source_tilt_deg": 89.97971964620244,
+            "source_upright_tilt_deg": 2.4482004137655444,
+            "max_source_upright_tilt_deg": 89.95626441398558,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 3.3094231085384513,
+            "source_upright_return_tilt_deg": 2.4482004137655444,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 8.971687092477304e-08,
+            "max_target_xy_drift": 2.1073424255447017e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3622,
+                0.0524,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0524,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                0.0,
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                "tilt_position_threshold_m": 0.04,
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+              "source_pose_held_object": "beaker_b",
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+              "wrist_compensated_return_position": -1.625725507736206
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3622,
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+            "pour_controller_controller_target_minus_raw_target": [
+              0.0,
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              0.0001,
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+              0.0262,
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
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+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.001332824043039586,
+                5.316891807084908e-05,
+                0.0015217578038410496
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 2.448200319031882,
+            "pour_controller_source_return_step_error_deg": 3.3094222107566593,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.3069682753385625,
+            "pour_controller_source_return_best_wrist_position": -1.625725507736206,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.625725507736206,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.02995122251351609,
+            "valid_pour_held_xy_dist": 0.026573359690661377,
+            "valid_pour_held_gripper_dist": 0.007435326439596711,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.0389608032255966,
+            "valid_pour_source_tilt_deg": 3.3094231085384513,
+            "valid_pour_source_upright_tilt_deg": 2.4482004137655444,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 8.971687092477304e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3710209063452968,
+              0.002360489042477143,
+              1.0389608032255966
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.36020168734262004,
+              0.027382009711375152,
+              1.0389608032255966
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.36561129684395843,
+              0.014871249376926148,
+              1.0389608032255966
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3710209063452968,
+              0.027382009711375152,
+              1.0389608032255966
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027260447472702492,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024635136146505136,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.03360189542552149,
+              -0.9990872554397743,
+              0.026373635351075057
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004997233057415669,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03251911062704445,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3710209063452968,
+              0.002360489042477143,
+              1.0389608032255966
+            ],
+            "held_grasp_finger_b": [
+              0.36020168734262004,
+              0.027382009711375152,
+              1.0389608032255966
+            ],
+            "held_grasp_midpoint": [
+              0.36561129684395843,
+              0.014871249376926148,
+              1.0389608032255966
+            ],
+            "held_grasp_object_position": [
+              0.3710209063452968,
+              0.027382009711375152,
+              1.0389608032255966
+            ],
+            "held_grasp_finger_gap": 0.027260447472702492,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024635136146505136,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03360189542552149,
+              -0.9990872554397743,
+              0.026373635351075057
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004997233057415669,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03251911062704445,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2547910581818912,
+              0.2222828756489539,
+              0.7565864424438533
+            ],
+            "target_position": [
+              0.25216447276512116,
+              0.22268308578376592,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0026569002810785344,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21831391192685398,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864424438533,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563525750938303,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08632089808444339,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18719593726720407,
+            "release_required_pad_clearance": 0.0531604490422217,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.345206897423843,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 228,
+            "max_placed_release_frames": 228
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8f39e4a61c986d888cf2f18eb4269e7b15110d1fc026a079ea77e3b68feb70b6",
+    "visual_seed": 4697649447931475518,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_84_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b97d783282469459fa0e76edf201ba40d7638d0c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_84_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.277585642966384,
+              0.2244736747438633,
+              0.9983754295432852
+            ],
+            "current_z": 0.9983754295432852,
+            "required_z": 0.856586388199276,
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+              0.37217741520105896,
+              0.022774318380398242,
+              1.039408539646778
+            ],
+            "held_grasp_finger_gap": 0.027205565512356165,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024378448924720485,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04994660535411809,
+              -0.9981895386461345,
+              0.03351091689311725
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004795713525634899,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03247085614831561,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2552970499152087,
+              0.22709188132962174,
+              0.7565864247283222
+            ],
+            "target_position": [
+              0.25259851841930864,
+              0.22309307576814166,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.00482415983906924,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21708621683209775,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864247283222,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518233972074709,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08717906676178146,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18777701529100627,
+            "release_required_pad_clearance": 0.05358953338089073,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1897159599726974,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 254,
+            "max_placed_release_frames": 254
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9b07f8f749cd785ebdae919fd3b205dbd3b214a2b37595a9acf569cec36c79b1",
+    "visual_seed": 9008338535262657042,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_85_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f0d75f57e9f0cdf6649a7c20354bf6aa481c61a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_85_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.27546098108834516,
+              0.22144700749611776,
+              0.9983697403482666
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+              0.21652175522728828,
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+              0.19685832818037038,
+              0.9983697403482666
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+              0.22144700749611776,
+              0.9983697403482666
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+              0.20915266783824407,
+              0.9983697403482666
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+              0.012294339657873687,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.36244169986311847,
+              0.04882150781028724,
+              0.770146330191967
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+            "gripper_position": [
+              0.36661459968043025,
+              0.017444575424763978,
+              1.037521487685046
+            ],
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+            "max_placed_release_frames": 266
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4fae70ffd3636016609a2b8ae87b0b7514ba88b3f22df7787cd3193c9b009efa",
+    "visual_seed": 3052753616236295591,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_86_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c28b1e4cf405f0c3f5bde8a6ad2497dd6368491f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_86_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+              0.22408502587591853,
+              0.9971690744820577
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+            "lift_margin": 0.14058250746884726,
+            "gripper_z": 0.9977552503869036,
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+            "gripper_position": [
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+              0.21919418633381627,
+              0.9977552503869036
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+              0.00489083954210226,
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+            "object_to_gripper_z": -0.000586175904845887,
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+              0.1994297374314314,
+              0.9971690744820577
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+              0.9971690744820577
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+              0.21175738165367497,
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+              0.0,
+              1.0
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+            "stable_success_frames": 165,
+            "max_stable_success_frames": 165,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+            },
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+          }
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.020309109592216906,
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+            "max_source_upright_tilt_deg": 89.71479916993118,
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+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_upright_reference_source": "scene_initial",
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+              0.0,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+                0.7701
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+              "controller_target_position": [
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+              "controller_target_minus_raw_target": [
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+                -0.0,
+                -0.0
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+              0.0666,
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+            "pour_controller_height_range_1": [
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+            ],
+            "pour_controller_height_range_2": [
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+              0.2
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+            "pour_controller_resolved_tilt_axis_world": null,
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                7.278295150333399e-05,
+                0.001249465453013767
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 3.624856322943045,
+            "pour_controller_source_return_step_error_deg": 3.9715417224210365,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.9664021487762016,
+            "pour_controller_source_return_best_wrist_position": -1.6259065866470337,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6259065866470337,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.030931624506045675,
+            "valid_pour_held_xy_dist": 0.027585394050053644,
+            "valid_pour_held_gripper_dist": 0.007212599612577481,
+            "valid_pour_required_height": 0.8001463897966116,
+            "valid_pour_held_z": 1.0377720740579068,
+            "valid_pour_source_tilt_deg": 3.971536389831268,
+            "valid_pour_source_upright_tilt_deg": 3.6248508636230374,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 4.0978193283081055e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37080041337114,
+              -0.00022569308863465878,
+              1.0377720740579068
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.360469912769554,
+              0.02485664267575786,
+              1.0377720740579068
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.365635163070347,
+              0.012315474793561602,
+              1.0377720740579068
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37080041337114,
+              0.02485664267575786,
+              1.0377720740579068
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02712642272908636,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.0244691746955293,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.05449702732565484,
+              -0.9979994089959466,
+              0.03205079806195187
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004492541844312994,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.032402656044473795,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37080041337114,
+              -0.00022569308863465878,
+              1.0377720740579068
+            ],
+            "held_grasp_finger_b": [
+              0.360469912769554,
+              0.02485664267575786,
+              1.0377720740579068
+            ],
+            "held_grasp_midpoint": [
+              0.365635163070347,
+              0.012315474793561602,
+              1.0377720740579068
+            ],
+            "held_grasp_object_position": [
+              0.37080041337114,
+              0.02485664267575786,
+              1.0377720740579068
+            ],
+            "held_grasp_finger_gap": 0.02712642272908636,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0244691746955293,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05449702732565484,
+              -0.9979994089959466,
+              0.03205079806195187
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004492541844312994,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032402656044473795,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24321716193536627,
+              0.22504001203525803,
+              0.7565871749129792
+            ],
+            "target_position": [
+              0.24991636505977038,
+              0.22126645702539868,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.007688890681656256,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21204229772507258,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565871749129792,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589436395612209,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08579970549006623,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18224187842521197,
+            "release_required_pad_clearance": 0.052899852745033116,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8383621503438607,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 255,
+            "max_placed_release_frames": 255
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2c30baba01550cbb1917377ce513c6960b826d1879c876f27d8ce290d577ed4f",
+    "visual_seed": 2839225341341884520,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_87_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c987b4398bc9aaa54673a577c1932b5858af162
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_87_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27994013663336687,
+              0.2228009941972779,
+              0.9971772286077302
+            ],
+            "current_z": 0.9971772286077302,
+            "required_z": 0.8565865670132105,
+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.14059066159451972,
+            "gripper_z": 0.9980493110456037,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27460322122544567,
+              0.21785157721132647,
+              0.9980493110456037
+            ],
+            "object_minus_gripper": [
+              0.0053369154079211945,
+              0.004949416985951416,
+              -0.0008720824378735115
+            ],
+            "object_to_gripper_xy": 0.007278694565107884,
+            "object_to_gripper_z": -0.0008720824378735115,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27994013663336687,
+              0.19813182398344933,
+              0.9971772286077302
+            ],
+            "finger_b": [
+              0.2680180537824026,
+              0.2228009941972779,
+              0.9971772286077302
+            ],
+            "finger_midpoint": [
+              0.27397909520788477,
+              0.21046640909036363,
+              0.9971772286077302
+            ],
+            "object_minus_finger_midpoint": [
+              0.005961041425482094,
+              0.012334585106914264,
+              0.0
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25185359234282745,
+              0.22995261615871634,
+              0.7565863842971604
+            ],
+            "target_position": [
+              0.25501850710191193,
+              0.21956443257546016,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.010859606051404635,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21441518370830576,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863842971604,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567500934239339,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08572696773208567,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18600012617681208,
+            "release_required_pad_clearance": 0.05286348386604284,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.769226776060541,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 260,
+            "max_placed_release_frames": 260
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7fd5370dfdc13146e23679c4289f8ee070aaede42b0015109e450bb824a1a8bf",
+    "visual_seed": 6909915994172220966,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_88_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e36e463f18710710c7ffef551ef4a67c7de0cd1e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_88_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+            "stable_success_frames": 168,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "metrics": {
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+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d27d90013680449d00ea38f8f93ec57d7f58029b37e809c11e3d765af7bb56b6",
+    "visual_seed": 6641102534191409100,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_89_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8d8809351ff33f6f82d5acf44e0ab5561425ae6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_89_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.2241133394314856,
+              0.9975715006422147
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+            "lift_margin": 0.14098505283829377,
+            "gripper_z": 0.9980298855074721,
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+            "gripper_position": [
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+              0.21914359565445174,
+              0.9980298855074721
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+              0.004969743777033853,
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+            "fingertip_source": "active_contact_pad_positions",
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+              0.19950797568480566,
+              0.9975715006422147
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+            "finger_b": [
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+              0.2241133394314856,
+              0.9975715006422147
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+            "finger_midpoint": [
+              0.2758821536956992,
+              0.21181065755814563,
+              0.9975715006422147
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+              0.012302681873339966,
+              0.0
+            ],
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              ],
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+            },
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+          }
+        },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.050072881250314484,
+              0.770146330191967
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+              0.020815034697095156,
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+              0.004655387230958329,
+              -0.0006373217560986522
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.96903651839067,
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+            "max_source_upright_tilt_deg": 89.96762400798791,
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 9.071674691055656e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+                0.0501,
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+              "controller_target_position": [
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+                0.0501,
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
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+              "wrist_joint_name": "wrist_3_joint",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+            "pour_controller_skill": "pour",
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+            "pour_controller_controller_t": 0.0,
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+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
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+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+              "pour_height_range_m": [
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+                0.2
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+                0.0005187846440435754
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+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 3.1423750990608412,
+            "pour_controller_source_return_step_error_deg": 3.407174523208816,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.4082136540364516,
+            "pour_controller_source_return_best_wrist_position": -1.62625253200531,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.62625253200531,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.029366559403528354,
+            "valid_pour_held_xy_dist": 0.025888328252168417,
+            "valid_pour_held_gripper_dist": 0.0072590265086783365,
+            "valid_pour_required_height": 0.800146330191967,
+            "valid_pour_held_z": 1.0384237991434406,
+            "valid_pour_source_tilt_deg": 3.407174751503037,
+            "valid_pour_source_upright_tilt_deg": 3.1423753005594173,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 9.071674691055656e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3753280868027148,
+              0.0004855640230317179,
+              1.0384237991434406
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3647106574759868,
+              0.025470421928053485,
+              1.0384237991434406
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.37001937213935077,
+              0.0129779929755426,
+              1.0384237991434406
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3753280868027148,
+              0.025470421928053485,
+              1.0384237991434406
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027147245349062443,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024439702834061407,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.04780705673494782,
+              -0.9984964083085449,
+              0.026821780725320037
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0047175753539599385,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.032472785502577886,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3753280868027148,
+              0.0004855640230317179,
+              1.0384237991434406
+            ],
+            "held_grasp_finger_b": [
+              0.3647106574759868,
+              0.025470421928053485,
+              1.0384237991434406
+            ],
+            "held_grasp_midpoint": [
+              0.37001937213935077,
+              0.0129779929755426,
+              1.0384237991434406
+            ],
+            "held_grasp_object_position": [
+              0.3753280868027148,
+              0.025470421928053485,
+              1.0384237991434406
+            ],
+            "held_grasp_finger_gap": 0.027147245349062443,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024439702834061407,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04780705673494782,
+              -0.9984964083085449,
+              0.026821780725320037
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0047175753539599385,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032472785502577886,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2517582588904331,
+              0.22804994549586421,
+              0.7565901455025166
+            ],
+            "target_position": [
+              0.2571281779855024,
+              0.22254306498730833,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.007691668481097131,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2131940810247171,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565901455025166,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583736311370033,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09136267220798232,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18401493586521442,
+            "release_required_pad_clearance": 0.05568133610399116,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.533491517194803,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 257,
+            "max_placed_release_frames": 257
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 89,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6380c7fb630534b91bfc564d65790d9cdf84f277263fb6c49db72ff212024b4e",
+    "visual_seed": 4176437938595945583,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_8_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d7b770226c2bcf62cee5a6d62403b05b911ad61
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_8_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27406595364231356,
+              0.22405015224270425,
+              0.9963475387554062
+            ],
+            "current_z": 0.9963475387554062,
+            "required_z": 0.8565863285946312,
+            "initial_z": 0.7565863285946313,
+            "lift_margin": 0.13976121016077492,
+            "gripper_z": 0.9975818174864605,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2687943288865251,
+              0.2190356682209162,
+              0.9975818174864605
+            ],
+            "object_minus_gripper": [
+              0.005271624755788462,
+              0.005014484021788057,
+              -0.0012342787310543057
+            ],
+            "object_to_gripper_xy": 0.007275649632205326,
+            "object_to_gripper_z": -0.0012342787310543057,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27406595364231356,
+              0.19958236388795203,
+              0.9963475387554062
+            ],
+            "finger_b": [
+              0.26184038414528,
+              0.22405015224270425,
+              0.9963475387554062
+            ],
+            "finger_midpoint": [
+              0.2679531688937968,
+              0.21181625806532814,
+              0.9963475387554062
+            ],
+            "object_minus_finger_midpoint": [
+              0.006112784748516786,
+              0.012233894177376109,
+              0.0
+            ],
+            "finger_gap": 0.02735209711337955,
+            "fingertip_max_gap": 0.09110151969075209,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013676048556689776,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9963475387554062,
+            "object_top_z": 1.0417968588743651,
+            "finger_top_clearance": 0.04544932011895897,
+            "fingertip_min_top_clearance": 0.013634796035687674,
+            "object_projection_between_fingers": 0.8002177324821691,
+            "object_to_finger_line_xy": 0.01093636973171639,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048050759845376045,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.650993210925799,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2356342286456546,
+              0.230843805397726,
+              0.7565880923824937
+            ],
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+              0.22274198658506641,
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17901833341143417,
+            "release_required_pad_clearance": 0.05671836264738506,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.85691656646177,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 259,
+            "max_placed_release_frames": 259
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9a90adf8db76fe9ab523e71cbe53123594a246c3b667bab5652db3ec8f564ff5",
+    "visual_seed": 5097835209230823134,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_90_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e86ccfc57b68a8de67acbab4cbb4472f38025f5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_90_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "failure_messages": {},
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+            "disturbances": [],
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+    {
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+      "skill": "pour",
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+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "metrics": {
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
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+                "gripper",
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+                "wrist",
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+                "wrist_2_joint",
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+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "777bf28483838480da414e056557099f4cd14cc73f1bc231c67d97c94ff59bae",
+    "visual_seed": 7520295431447696148,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_92_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..72029cff4b4491baa8286b1d966e8f18a916ba16
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_92_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
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+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
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+              0.21781926403859572,
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+              0.9981258821529237
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+            "finger_b": [
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+              0.9981258821529237
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+              0.2103652635624239,
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+              1.0
+            ],
+            "stable_success_frames": 168,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.015842659796714523,
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+            "max_source_upright_tilt_deg": 89.90731154701406,
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+              "controller_target_position": [
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+              "wrist_joint_name": "wrist_3_joint",
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+              0.2
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+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
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+                0.0,
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+              "tilt_axis_frame": "end_effector",
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+              "approach_height_range_m": [
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+              "approach_xy_threshold_m": 0.08,
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+            "pour_controller_source_pose_held_object": "beaker_b",
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+            "valid_pour_pose_failed_keys": [
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+            "valid_pour_held_xy_dist": 0.03013070159632614,
+            "valid_pour_held_gripper_dist": 0.007347885424518219,
+            "valid_pour_required_height": 0.8001464494012566,
+            "valid_pour_held_z": 1.0329780309214323,
+            "valid_pour_source_tilt_deg": 3.997523942809777,
+            "valid_pour_source_upright_tilt_deg": 3.5198403579112894,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 5.372690071757987e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37683826019866257,
+              -0.004680735603706796,
+              1.0329780309214323
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3664064177437844,
+              0.020408809251845877,
+              1.0329780309214323
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3716223389712235,
+              0.007864036824069541,
+              1.0329780309214323
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37683826019866257,
+              0.020408809251845877,
+              1.0329780309214323
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02717183464660029,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02450536228898414,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.05146299352069475,
+              -0.9981136076331113,
+              0.03347815041940905
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.00458311513918297,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.0324106899806544,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37683826019866257,
+              -0.004680735603706796,
+              1.0329780309214323
+            ],
+            "held_grasp_finger_b": [
+              0.3664064177437844,
+              0.020408809251845877,
+              1.0329780309214323
+            ],
+            "held_grasp_midpoint": [
+              0.3716223389712235,
+              0.007864036824069541,
+              1.0329780309214323
+            ],
+            "held_grasp_object_position": [
+              0.37683826019866257,
+              0.020408809251845877,
+              1.0329780309214323
+            ],
+            "held_grasp_finger_gap": 0.02717183464660029,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02450536228898414,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05146299352069475,
+              -0.9981136076331113,
+              0.03347815041940905
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00458311513918297,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0324106899806544,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.23801630073055535,
+              0.2342076467154597,
+              0.7565986470254106
+            ],
+            "target_position": [
+              0.24960188337091294,
+              0.21836365665902505,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.019627983748336342,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20531166284959876,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565986470254106,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07820187837500783,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08895215954609222,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17919382812772552,
+            "release_required_pad_clearance": 0.05447607977304611,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.9508716734477924,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 92,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f0857b41301bbed1d1fa223629eec978a49e237e4b1053d54b6287d17b3cb70b",
+    "visual_seed": 2265077761138225644,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_93_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d82cf1f25f905b7f397ef30de92978a684e39302
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_93_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27979572416488574,
+              0.21943515345181486,
+              0.9978565145603909
+            ],
+            "current_z": 0.9978565145603909,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14127000715182536,
+            "gripper_z": 0.9987175457652856,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2743404323236751,
+              0.21449911890584622,
+              0.9987175457652856
+            ],
+            "object_minus_gripper": [
+              0.00545529184121063,
+              0.004936034545968637,
+              -0.0008610312048946689
+            ],
+            "object_to_gripper_xy": 0.007356945433518933,
+            "object_to_gripper_z": -0.0008610312048946689,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27979572416488574,
+              0.1945500991337203,
+              0.9978565145603909
+            ],
+            "finger_b": [
+              0.26805905127304996,
+              0.21943515345181486,
+              0.9978565145603909
+            ],
+            "finger_midpoint": [
+              0.27392738771896785,
+              0.20699262629276757,
+              0.9978565145603909
+            ],
+            "object_minus_finger_midpoint": [
+              0.005868336445917888,
+              0.012442527159047284,
+              0.0
+            ],
+            "finger_gap": 0.027513913189229734,
+            "fingertip_max_gap": 0.09082308347160553,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013756956594614867,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9978565145603909,
+            "object_top_z": 1.0432785730282512,
+            "finger_top_clearance": 0.04542205846786029,
+            "fingertip_min_top_clearance": 0.013626617540358087,
+            "object_projection_between_fingers": 0.8180360833934631,
+            "object_to_finger_line_xy": 0.010615274549218635,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04791154173580277,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5818797826312523,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "robotiq_2f85",
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+                "shoulder_pan_joint",
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+                "fr3_joint5",
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+                "fr3_joint7",
+                "fr3_leftfinger",
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+                "franka",
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+                "gripper",
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+                "left_inner_finger",
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+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
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+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24155605653560475,
+              0.2184238584854214,
+              0.7565862925549658
+            ],
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+              0.21502378674745987,
+              0.7730800627579277
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+            "object_upright_reference_source": "scene_initial",
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+            "release_finger_gap": 0.07537767097116008,
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17803317501764923,
+            "release_required_pad_clearance": 0.0530591768792624,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1480625174381747,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 260,
+            "max_placed_release_frames": 260
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 93,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d58b02acea331fe02d7d0f3322a3213bdc11188d8d3caff83d77ef2773f5071a",
+    "visual_seed": 1528050987195373199,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_94_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7204752af960a274727d76d2cfc8f6ceaa409e4c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_94_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "failure_messages": {},
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+            "disturbances": [],
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 9.996002806972516e-08,
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+            "target_upright_reference_source": "scene_initial",
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+            "max_target_tilt_deg": 0.0,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "66af73e83364e417f5b1935f8d80175c25ac80c6eb2ddd7605bcf0decaf8c23b",
+    "visual_seed": 4090580065289083351,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_95_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..234ae07975c08756c4c3688a034dcbf6f60974a6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_95_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+            "disturbances": [],
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+            "last_valid_pour_pose_failed_keys": [
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+            "valid_pour_held_grasp_finger_b": [
+              0.36684568117751787,
+              0.017206058953848934,
+              1.0341898615491696
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3718803894635154,
+              0.004367608588105461,
+              1.0341898615491696
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.376915097749513,
+              0.017206058953848934,
+              1.0341898615491696
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027580724814170576,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.025082549054698353,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.0551112776259875,
+              -0.9984650303021456,
+              0.0055072989901707725
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.00432010439224858,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03210401202623066,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.376915097749513,
+              -0.008470841777638011,
+              1.0341898615491696
+            ],
+            "held_grasp_finger_b": [
+              0.36684568117751787,
+              0.017206058953848934,
+              1.0341898615491696
+            ],
+            "held_grasp_midpoint": [
+              0.3718803894635154,
+              0.004367608588105461,
+              1.0341898615491696
+            ],
+            "held_grasp_object_position": [
+              0.376915097749513,
+              0.017206058953848934,
+              1.0341898615491696
+            ],
+            "held_grasp_finger_gap": 0.027580724814170576,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025082549054698353,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0551112776259875,
+              -0.9984650303021456,
+              0.0055072989901707725
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00432010439224858,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03210401202623066,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2427813699245701,
+              0.21861048155731505,
+              0.7565868233292075
+            ],
+            "target_position": [
+              0.2496841791436609,
+              0.2156571554968279,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.007508056335345204,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21155350137629303,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565868233292075,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568107149460117,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08591512176720324,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18213825335349113,
+            "release_required_pad_clearance": 0.05295756088360162,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9503788765471822,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 262,
+            "max_placed_release_frames": 262
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 95,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ee42b8d254ba3ce253cfbbc8c6e064c1334e44963d826cb296eec7f2d903c549",
+    "visual_seed": 2012952897092238774,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_96_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce432c7cac26a33cb6f182ee1d2ba5e1984a45a2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_96_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27470240466219653,
+              0.22602985838960793,
+              0.9968992347354413
+            ],
+            "current_z": 0.9968992347354413,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1403127869315205,
+            "gripper_z": 0.9986574286587044,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26901375282451717,
+              0.22105910707011342,
+              0.9986574286587044
+            ],
+            "object_minus_gripper": [
+              0.005688651837679359,
+              0.00497075131949451,
+              -0.0017581939232631516
+            ],
+            "object_to_gripper_xy": 0.007554411188874296,
+            "object_to_gripper_z": -0.0017581939232631516,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27470240466219653,
+              0.20108165055361016,
+              0.9968992347354413
+            ],
+            "finger_b": [
+              0.2627888320668056,
+              0.22602985838960793,
+              0.9968992347354413
+            ],
+            "finger_midpoint": [
+              0.26874561836450106,
+              0.21355575447160904,
+              0.9968992347354413
+            ],
+            "object_minus_finger_midpoint": [
+              0.005956786297695471,
+              0.012474103917998886,
+              0.0
+            ],
+            "finger_gap": 0.027646813310285703,
+            "fingertip_max_gap": 0.0911660496713019,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013823406655142851,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9968992347354413,
+            "object_top_z": 1.0422891227780233,
+            "finger_top_clearance": 0.04538988804258204,
+            "fingertip_min_top_clearance": 0.013616966412774628,
+            "object_projection_between_fingers": 0.8143077103328127,
+            "object_to_finger_line_xy": 0.010750688762689418,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04808302483565095,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7526445205878655,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 164,
+            "max_stable_success_frames": 164,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
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+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2411006928683385,
+              0.2247381546780995,
+              0.7565866035021098
+            ],
+            "target_position": [
+              0.249197896632298,
+              0.22178403920401785,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.008619252115426754,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2102270261464405,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565866035021098,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756813167777267,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08854559058700089,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18108988616354632,
+            "release_required_pad_clearance": 0.054272795293500445,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.5640408813973656,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 258,
+            "max_placed_release_frames": 258
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 96,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dc53624cb750664aebc9e770a52b922172a96ce30d43e0eb3aea6a40f671fbe3",
+    "visual_seed": 1657317476416692824,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_97_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6e9b34f0373a2d7f9f912a622492d34f0a7c281
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_97_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2807590782031065,
+              0.21971794760302332,
+              0.998059357617258
+            ],
+            "current_z": 0.998059357617258,
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+            "lift_margin": 0.14147290981333704,
+            "gripper_z": 0.9990822413422459,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.21481992333086614,
+              0.9990822413422459
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+            "object_to_gripper_z": -0.001022883724987933,
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+              0.2807590782031065,
+              0.19519019732055284,
+              0.998059357617258
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+              0.21971794760302332,
+              0.998059357617258
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+            "finger_midpoint": [
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+              0.2074540724617881,
+              0.998059357617258
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+              0.012263875141235225,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
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+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.05201185387247062,
+              0.7701465090059011
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+              0.020620068074142586,
+              1.0366733545902256
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+              0.004594997589328242,
+              -0.001201140174590165
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+            "xy_threshold": 0.15,
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+            "gripper_z": 1.0366733545902256,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.29966539495258,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 3.2231556707802493,
+            "max_source_tilt_deg": 89.7501184177255,
+            "source_upright_tilt_deg": 3.2841030388421166,
+            "max_source_upright_tilt_deg": 89.71398293222252,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 3.2231556707802493,
+            "source_upright_return_tilt_deg": 3.2841030388421166,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 6.006850114687196e-08,
+            "max_target_xy_drift": 1.9912016413946102e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3676,
+                0.052,
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+              ],
+              "controller_target_position": [
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+                0.052,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
+                -0.0,
+                0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              ],
+              "height_range_2": [
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+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
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+              "source_pose_held_object": "beaker_b",
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+              "wrist_compensated_return_position": -1.6272475719451904
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
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+              "tilt_axis_frame": "end_effector",
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+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
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+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                -0.00020082227621986168,
+                0.0006843711240732834
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 3.284103111757599,
+            "pour_controller_source_return_step_error_deg": 3.2231579010457927,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.2799290892714525,
+            "pour_controller_source_return_best_wrist_position": -1.6272475719451904,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6272475719451904,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03156717810870753,
+            "valid_pour_held_xy_dist": 0.028188827918336646,
+            "valid_pour_held_gripper_dist": 0.007210835352426778,
+            "valid_pour_required_height": 0.8001465090059011,
+            "valid_pour_held_z": 1.0354722144156354,
+            "valid_pour_source_tilt_deg": 3.2231556707802493,
+            "valid_pour_source_upright_tilt_deg": 3.2841030388421166,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.006850114687196e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37638594662210934,
+              0.00039339995408604347,
+              1.0354722144156354
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3657424920791485,
+              0.02521506566347083,
+              1.0354722144156354
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.37106421935062894,
+              0.012804232808778435,
+              1.0354722144156354
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37638594662210934,
+              0.02521506566347083,
+              1.0354722144156354
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02700737331168143,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024236213614394164,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.05117594780084184,
+              -0.9983577564311482,
+              0.025745145958988025
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004690752480420489,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.0325374292845025,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37638594662210934,
+              0.00039339995408604347,
+              1.0354722144156354
+            ],
+            "held_grasp_finger_b": [
+              0.3657424920791485,
+              0.02521506566347083,
+              1.0354722144156354
+            ],
+            "held_grasp_midpoint": [
+              0.37106421935062894,
+              0.012804232808778435,
+              1.0354722144156354
+            ],
+            "held_grasp_object_position": [
+              0.37638594662210934,
+              0.02521506566347083,
+              1.0354722144156354
+            ],
+            "held_grasp_finger_gap": 0.02700737331168143,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024236213614394164,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05117594780084184,
+              -0.9983577564311482,
+              0.025745145958988025
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004690752480420489,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0325374292845025,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2472035485676911,
+              0.2187336614586333,
+              0.7565864197373194
+            ],
+            "target_position": [
+              0.2560727948883495,
+              0.21695064122709504,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.009046695056349974,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2100855353190159,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864197373194,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544638485326306,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08848940521546243,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1808441401173684,
+            "release_required_pad_clearance": 0.05424470260773122,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.5073623956478728,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 267,
+            "max_placed_release_frames": 267
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 97,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "65903557da24e28cdd5512daa3a832d7b27b7161673c8addd2b99605faf89dd2",
+    "visual_seed": 7770641992511947412,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_98_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..39c3d86e5a0ecdcf865657a0bac873680ddb8186
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_98_success.json
@@ -0,0 +1,1017 @@
+{
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+  "success": true,
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+  "total_steps": 3,
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+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.04050578873738499,
+              -0.9989026844791401,
+              0.023509743068136135
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004595443641493902,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.032517762356748886,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3782704817924642,
+              -0.001763881598748054,
+              1.034848719232762
+            ],
+            "held_grasp_finger_b": [
+              0.3680785076397255,
+              0.023215620062404123,
+              1.034848719232762
+            ],
+            "held_grasp_midpoint": [
+              0.3731744947160949,
+              0.010725869231828035,
+              1.034848719232762
+            ],
+            "held_grasp_object_position": [
+              0.3782704817924642,
+              0.023215620062404123,
+              1.034848719232762
+            ],
+            "held_grasp_finger_gap": 0.026978729406137682,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024539257314428325,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04050578873738499,
+              -0.9989026844791401,
+              0.023509743068136135
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004595443641493902,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032517762356748886,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24628615145224347,
+              0.22104783833826588,
+              0.7565864113819595
+            ],
+            "target_position": [
+              0.2574406367834061,
+              0.2138517584513536,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.013274264904014316,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20829837527530284,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864113819595,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554749105021678,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08993436666144612,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18031420764101053,
+            "release_required_pad_clearance": 0.05496718333072306,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.0046653040425735,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 257,
+            "max_placed_release_frames": 257
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 98,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fc333b2bbbe8ce4603962f3e03040731e16e61184e734feb06ba44d96ed9f7a4",
+    "visual_seed": 2841392008785718168,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_99_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..83f234542ddcaefaf7f6f96efe80029c10803102
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_99_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27640677038636385,
+              0.21855620151109367,
+              0.998573236021502
+            ],
+            "current_z": 0.998573236021502,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14198672861293649,
+            "gripper_z": 0.9997737423833434,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2711273566475674,
+              0.21358461758578912,
+              0.9997737423833434
+            ],
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+              0.005279413738796479,
+              0.004971583925304557,
+              -0.0012005063618413248
+            ],
+            "object_to_gripper_xy": 0.007251817437838579,
+            "object_to_gripper_z": -0.0012005063618413248,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27640677038636385,
+              0.19390564274917507,
+              0.998573236021502
+            ],
+            "finger_b": [
+              0.2644796164211648,
+              0.21855620151109367,
+              0.998573236021502
+            ],
+            "finger_midpoint": [
+              0.2704431934037643,
+              0.2062309221301344,
+              0.998573236021502
+            ],
+            "object_minus_finger_midpoint": [
+              0.005963576982599528,
+              0.012325279380959286,
+              0.0
+            ],
+            "finger_gap": 0.027384430777074142,
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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": 1.0442315821602792,
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+            "fingertip_min_top_clearance": 0.013697503841633167,
+            "object_projection_between_fingers": 0.8103004873707629,
+            "object_to_finger_line_xy": 0.01073642947246259,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04780348036906236,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.519522832136384,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.022114710848428063,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2047783173627679,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756586414644757,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07733536108525951,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09212446904808895,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17974639307874618,
+            "release_required_pad_clearance": 0.05606223452404448,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 7.376771362167829,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 99,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d8856314a31d7ca7863c8b52f19fad63336de5a82c67a0855e95c3f13d65fb51",
+    "visual_seed": 675950047947116155,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_9_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8326b3a2f8a5780f1d8f5d2948ddd5fbe92fc8e8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/episode_9_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2751288315019611,
+              0.2151333637833933,
+              0.9979843187325692
+            ],
+            "current_z": 0.9979843187325692,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.14139787092864842,
+            "gripper_z": 0.9989232957458933,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2101737110131997,
+              0.9989232957458933
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+              0.004959652770193584,
+              -0.0009389770133241271
+            ],
+            "object_to_gripper_xy": 0.00738627047863054,
+            "object_to_gripper_z": -0.0009389770133241271,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2751288315019611,
+              0.19022109949820984,
+              0.9979843187325692
+            ],
+            "finger_b": [
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+              0.2151333637833933,
+              0.9979843187325692
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+            "finger_midpoint": [
+              0.26925412071374044,
+              0.20267723164080156,
+              0.9979843187325692
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012456132142591725,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.01062681904790069,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0477829629841382,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04747127634160972,
+              0.7701464494012566
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+              0.015000105289449825,
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+              0.004602263619699381,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.2788469783624,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+            "source_start_tilt_deg": 1.0135358631802702,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 4.357175947346924,
+            "max_source_tilt_deg": 89.66763564358047,
+            "source_upright_tilt_deg": 3.353440685622242,
+            "max_source_upright_tilt_deg": 89.98644750494633,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 4.357175947346924,
+            "source_upright_return_tilt_deg": 3.353440685622242,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.514431838712321e-08,
+            "max_target_xy_drift": 1.6429332696795422e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+              ],
+              "controller_target_position": [
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+                0.0475,
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+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "source_size": [
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+              ],
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+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                "position_threshold_m": 0.015,
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+              "source_pose_held_object": "beaker_b",
+              "source_return_upright_error_deg": 3.353440678081802,
+              "source_return_step_error_deg": 4.357175812187249,
+              "source_return_stable_frames": 5,
+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 4.355350334235154,
+              "source_return_best_wrist_position": -1.6259053945541382,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6259053945541382
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3679,
+              0.0475,
+              0.7701
+            ],
+            "pour_controller_controller_target_position": [
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+              0.0475,
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+            ],
+            "pour_controller_controller_target_minus_raw_target": [
+              -0.0,
+              0.0,
+              -0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.0004,
+              0.0,
+              0.0006
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.3683,
+              0.0212,
+              1.0371
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.0682,
+              0.066,
+              0.0921
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0003641110751037677,
+                3.587073456611618e-05,
+                0.0006493046171478687
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 3.353440678081802,
+            "pour_controller_source_return_step_error_deg": 4.357175812187249,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 4.355350334235154,
+            "pour_controller_source_return_best_wrist_position": -1.6259053945541382,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6259053945541382,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03281132366876183,
+            "valid_pour_held_xy_dist": 0.029766358744688137,
+            "valid_pour_held_gripper_dist": 0.007446119247635734,
+            "valid_pour_required_height": 0.8001464494012567,
+            "valid_pour_held_z": 1.0349512952987212,
+            "valid_pour_source_tilt_deg": 4.357175947346924,
+            "valid_pour_source_upright_tilt_deg": 3.353440685622242,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.514431838712321e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37834725190526164,
+              -0.005671708080878364,
+              1.0349512952987212
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3680266548190106,
+              0.019602368909149206,
+              1.0349512952987212
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.37318695336213614,
+              0.006965330414135421,
+              1.0349512952987212
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37834725190526164,
+              0.019602368909149206,
+              1.0349512952987212
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027300067617399316,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024696359524950175,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.05178388675988875,
+              -0.9982876987244437,
+              0.027204772513171216
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004512373519688743,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03231760457252683,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37834725190526164,
+              -0.005671708080878364,
+              1.0349512952987212
+            ],
+            "held_grasp_finger_b": [
+              0.3680266548190106,
+              0.019602368909149206,
+              1.0349512952987212
+            ],
+            "held_grasp_midpoint": [
+              0.37318695336213614,
+              0.006965330414135421,
+              1.0349512952987212
+            ],
+            "held_grasp_object_position": [
+              0.37834725190526164,
+              0.019602368909149206,
+              1.0349512952987212
+            ],
+            "held_grasp_finger_gap": 0.027300067617399316,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024696359524950175,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05178388675988875,
+              -0.9982876987244437,
+              0.027204772513171216
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004512373519688743,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03231760457252683,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.23754029216468364,
+              0.22253639609568737,
+              0.7565860489465788
+            ],
+            "target_position": [
+              0.2497129611160325,
+              0.21393077721047815,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.014907399028556326,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20749035093255688,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565860489465788,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07560004148442254,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08517846083014897,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1795514547112493,
+            "release_required_pad_clearance": 0.05258923041507449,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.24065864103682982,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 266,
+            "max_placed_release_frames": 266
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 9,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6428506004157355875,
+    "physical_seed": 4650221932225994587,
+    "layout_id": "layout_00014",
+    "step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "workflow_spec_digest": "20c3ef137bd5945a04291bee6099de2c3977c60308fbce7c8146c972fc521b81",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "99d25a016853657c4d38cc264dea9e5b76f38addf7712fff10813b8d3d47153c",
+    "visual_seed": 6409825261207633246,
+    "episode_index": 9,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4947227672382490837,
+      8216466612410408910,
+      5552583258780378057
+    ],
+    "runtime_workflow_digest": "4f9cd95070576cedc24c8f379ea6187bcc52c9ab05159b4f0be4d01313a60a11"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/summary.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e1f17360121f5395bc273fe7d5b9e216e112cd1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00014/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "fast_3beaker_preloaded_mix_s03_pol_cvg_00014",
+  "family": "fastfix_v3",
+  "published_episodes": 100,
+  "published_successes": 100,
+  "published_failures": 0,
+  "matched_success_results": 100
+}
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/dataset/episode_0000.h5 b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/dataset/episode_0000.h5
new file mode 100644
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diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4c82b0d257a5a74c270502bd35cbe6e95dadcfc9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/dataset/meta/randomization_episodes.jsonl
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diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/resolved_config.yaml b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e7e3dc369573bcaf24f5e22bf6c5c83624ed0864
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/resolved_config.yaml
@@ -0,0 +1,254 @@
+name: fast_3beaker_preloaded_mix_s03_pol_cvg_00015
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker b from home. Pour beaker b into the preloaded
+    beaker c and return it upright. Place beaker b at home.
+  layout_id: layout_00015
+  reproducibility:
+    enabled: true
+    layout_id: layout_00015
+    action_seed: 5953257507180844248
+    step_seeds:
+    - 3306441442816909540
+    - 577695694772848705
+    - 8691107015742857011
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2499
+      - 0.2499
+      'y':
+      - -0.2163
+      - -0.2163
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.3021
+      - 0.3021
+      'y':
+      - 0.1509
+      - 0.1509
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_c
+    path: /World/beaker_3
+    position_range:
+      x:
+      - 0.3209
+      - 0.3209
+      'y':
+      - -0.008
+      - -0.008
+      z:
+      - 0.0
+      - 0.0
+    role: receiver
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.1235
+      - 0.1235
+      'y':
+      - 0.3887
+      - 0.3887
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.1366
+      - 0.1366
+      'y':
+      - -0.41
+      - -0.41
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  steps:
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.25
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: false
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      hold_grasp_pose_until_close: false
+  - skill: pour
+    target_object: beaker_c
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.006
+      - 0.002
+      - 0.012
+      - 0.01
+      - 0.009
+      - 0.01
+      pour_speed: -1.5
+      source_name: beaker
+      approach_xy_threshold: 0.08
+      tilt_position_threshold: 0.04
+      height_range_1:
+      - 0.3
+      - 0.4
+      height_range_2:
+      - 0.2
+      - 0.2
+      position_only: false
+      tilt_strategy: wrist_velocity
+      position_threshold: 0.015
+      post_return_recenter: true
+      lock_target_position: true
+      held_gripper_distances: 0.019
+  - skill: place
+    target_object: beaker_b
+    target_key: beaker_b_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+  gripper_contact_profile: pour_torsional
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_0_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..179cf28651e00e53c32d500f44996aefd5750312
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_0_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3215283510105968,
+              0.1507603740871525,
+              0.9995619635883832
+            ],
+            "current_z": 0.9995619635883832,
+            "required_z": 0.8565865074085653,
+            "initial_z": 0.7565865074085654,
+            "lift_margin": 0.14297545617981788,
+            "gripper_z": 1.0000589574509577,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3164282732117613,
+              0.14589915418427743,
+              1.0000589574509577
+            ],
+            "object_minus_gripper": [
+              0.005100077798835478,
+              0.00486121990287508,
+              -0.0004969938625745129
+            ],
+            "object_to_gripper_xy": 0.007045725831898608,
+            "object_to_gripper_z": -0.0004969938625745129,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3215283510105968,
+              0.12625272280211722,
+              0.9995619635883832
+            ],
+            "finger_b": [
+              0.3097422720591502,
+              0.1507603740871525,
+              0.9995619635883832
+            ],
+            "finger_midpoint": [
+              0.3156353115348735,
+              0.13850654844463486,
+              0.9995619635883832
+            ],
+            "object_minus_finger_midpoint": [
+              0.005893039475723283,
+              0.012253825642517646,
+              0.0
+            ],
+            "finger_gap": 0.027194422747295516,
+            "fingertip_max_gap": 0.090983726532088,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013597211373647758,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9995619635883832,
+            "object_top_z": 1.044987085196661,
+            "finger_top_clearance": 0.04542512160827772,
+            "fingertip_min_top_clearance": 0.013627536482483315,
+            "object_projection_between_fingers": 0.8121639257808309,
+            "object_to_finger_line_xy": 0.010621630605807661,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047991863266044,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8695972169387653,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 174,
+            "max_stable_success_frames": 174,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3406115838944619,
+              -0.007960126112622217,
+              0.7701463784311614
+            ],
+            "gripper_position": [
+              0.344610931141171,
+              -0.02151898970832869,
+              1.0370076595620623
+            ],
+            "target_minus_gripper": [
+              -0.003999347246709084,
+              0.013558863595706473,
+              -0.2668612811309009
+            ],
+            "held_position": [
+              0.34981381314151166,
+              -0.016783427002564154,
+              1.0363670547642678
+            ],
+            "held_minus_target": [
+              0.009202229247049776,
+              -0.008823300889941937,
+              0.2662206763331064
+            ],
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+              0.005202882000340692,
+              0.004735562705764536,
+              -0.0006406047977944862
+            ],
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+            "held_gripper_dist": 0.007064411494006731,
+            "max_held_gripper_dist": 0.0070677452703123145,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463784311614,
+            "held_z": 1.0363670547642678,
+            "required_height": 0.8001463784311614,
+            "gripper_z": 1.0370076595620623,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.68269440722534,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "source_start_tilt_deg": 0.6673023475736527,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.959914336325202,
+            "max_source_tilt_deg": 89.78011602126377,
+            "source_upright_tilt_deg": 2.5536730396592806,
+            "max_source_upright_tilt_deg": 89.99237950330075,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.959914336325202,
+            "source_upright_return_tilt_deg": 2.5536730396592806,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.849690983187933e-07,
+            "max_target_xy_drift": 2.2553706296226228e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.03956467917557699,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 8.365239156607497e-06,
+            "max_target_tilt_deg": 0.00010979542368761874,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 218,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 218,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3406,
+                -0.008,
+                0.7701
+              ],
+              "controller_target_position": [
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+                -0.008,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                0.0015,
+                -0.0015,
+                -0.0006
+              ],
+              "controller_last_pour_pose_position": [
+                0.3421,
+                -0.0353,
+                1.0354
+              ],
+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+                0.0645,
+                0.0942
+              ],
+              "height_range_1": [
+                0.3,
+                0.4
+              ],
+              "height_range_2": [
+                0.2,
+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  0.0
+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
+                  0.0014686412918977357,
+                  -0.0015263933652539734,
+                  -0.0006112634630633287
+                ],
+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
+              "source_return_upright_error_deg": 2.553656357825559,
+              "source_return_step_error_deg": 2.959898362588441,
+              "source_return_stable_frames": 5,
+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 2.951769869280804,
+              "source_return_best_wrist_position": -1.6419650316238403,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6419650316238403
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+              -0.008,
+              0.7701
+            ],
+            "pour_controller_controller_target_position": [
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+              -0.0,
+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.0015,
+              -0.0006
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+            "pour_controller_controller_last_pour_pose_position": [
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+              -0.0353,
+              1.0354
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0645,
+              0.0942
+            ],
+            "pour_controller_height_range_1": [
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                -0.0015263933652539734,
+                -0.0006112634630633287
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+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 2.553656357825559,
+            "pour_controller_source_return_step_error_deg": 2.959898362588441,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.951769869280804,
+            "pour_controller_source_return_best_wrist_position": -1.6419650316238403,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6419650316238403,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
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+            "valid_pour_held_gripper_dist": 0.007064411494006731,
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+            "valid_pour_held_z": 1.0363670547642678,
+            "valid_pour_source_tilt_deg": 2.959914336325202,
+            "valid_pour_source_upright_tilt_deg": 2.5536730396592806,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.849690983187933e-07,
+            "valid_pour_target_tilt_deg": 8.365239156607497e-06,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.34981381314151166,
+              -0.04088254243878478,
+              1.0363670547642678
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.33868332997248873,
+              -0.016783427002564154,
+              1.0363670547642678
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.34424857155700017,
+              -0.028832984720674467,
+              1.0363670547642678
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.34981381314151166,
+              -0.016783427002564154,
+              1.0363670547642678
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026545338957794266,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02402040895730257,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.004921121324045482,
+              -0.9990069336398929,
+              0.04428237916296729
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005531730140970279,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03313524602908948,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.34981381314151166,
+              -0.04088254243878478,
+              1.0363670547642678
+            ],
+            "held_grasp_finger_b": [
+              0.33868332997248873,
+              -0.016783427002564154,
+              1.0363670547642678
+            ],
+            "held_grasp_midpoint": [
+              0.34424857155700017,
+              -0.028832984720674467,
+              1.0363670547642678
+            ],
+            "held_grasp_object_position": [
+              0.34981381314151166,
+              -0.016783427002564154,
+              1.0363670547642678
+            ],
+            "held_grasp_finger_gap": 0.026545338957794266,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02402040895730257,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.004921121324045482,
+              -0.9990069336398929,
+              0.04428237916296729
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005531730140970279,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03313524602908948,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2956377263567212,
+              0.14367840764498604,
+              0.7565857258095107
+            ],
+            "target_position": [
+              0.2972194820082392,
+              0.14691197318309623,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0035997079090341545,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21554346571505134,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565857258095107,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524079093364329,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0867997406816871,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1853523180439102,
+            "release_required_pad_clearance": 0.05339987034084355,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8122360491436187,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1002fecf315818b340896113c298fd0724a25eaa9077d47918c7e43db1c3fa15",
+    "visual_seed": 1147388987071271596,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_100_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b02e38d36c8778e71b71dd1a6b980df8b53ef529
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_100_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3216019289436974,
+              0.1527115194769115,
+              0.9989033090631712
+            ],
+            "current_z": 0.9989033090631712,
+            "required_z": 0.8565865074085653,
+            "initial_z": 0.7565865074085654,
+            "lift_margin": 0.1423168016546058,
+            "gripper_z": 0.9988470620760627,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3165977358765196,
+              0.14792006974821537,
+              0.9988470620760627
+            ],
+            "object_minus_gripper": [
+              0.0050041930671777535,
+              0.004791449728696134,
+              5.624698710848808e-05
+            ],
+            "object_to_gripper_xy": 0.0069281988103844245,
+            "object_to_gripper_z": 5.624698710848808e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3216019289436974,
+              0.12826042964884277,
+              0.9989033090631712
+            ],
+            "finger_b": [
+              0.3099358215438581,
+              0.1527115194769115,
+              0.9989033090631712
+            ],
+            "finger_midpoint": [
+              0.3157688752437777,
+              0.14048597456287715,
+              0.9989033090631712
+            ],
+            "object_minus_finger_midpoint": [
+              0.005833053699919655,
+              0.012225544914034353,
+              0.0
+            ],
+            "finger_gap": 0.02709158274528955,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013545791372644774,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9989033090631712,
+            "object_top_z": 1.0442861958196545,
+            "finger_top_clearance": 0.04538288675648339,
+            "fingertip_min_top_clearance": 0.013614866026945033,
+            "object_projection_between_fingers": 0.8145686396796635,
+            "object_to_finger_line_xy": 0.010529065158696324,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04815513504710002,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0838102957753015,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 173,
+            "max_stable_success_frames": 173,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
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+                "panda_rightfinger",
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+                "robotiq_2f85",
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+                "split_aloha",
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+                "fr3_joint3",
+                "fr3_joint4",
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+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
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+                "joint4",
+                "joint5",
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+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
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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",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2925926728188874,
+              0.14712370993380847,
+              0.7565863409800089
+            ],
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+              0.14799616908824947,
+              0.7730800627579277
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18224559939703713,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2517767354214993,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 100,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6d0acaf8deb4eeae566e4f58f17ebc7988b8c43d8167e1f04737abc1068778f2",
+    "visual_seed": 6499865178256942272,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_101_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b48d09ded9e9a362f77be8a0735194f70dcf961
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_101_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "failure_messages": {},
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+              "allowed_objects": [
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+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "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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+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "disturbances": [],
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
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+            "target_upright_reference_source": "scene_initial",
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
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+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 101,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2bccf596165263e322a6eacb1266dc7f96c9befe56766d215c041d17c560938a",
+    "visual_seed": 3064222491049796376,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_102_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_102_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d2f5f4946b05d6fbe42034ebab4962275f09940
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_102_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 102,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+            "disturbances": [],
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+    {
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+      "skill": "pour",
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+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+            "valid_pour_grasp_window_ok": true,
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+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.35116132771370767,
+              -0.04190849469846406,
+              1.0277650103181388
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.34005887314580474,
+              -0.017563089400083057,
+              1.0277650103181388
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3456101004297562,
+              -0.02973579204927356,
+              1.0277650103181388
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.35116132771370767,
+              -0.017563089400083057,
+              1.0277650103181388
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02675748972857481,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02431129059840741,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.0019231812919486176,
+              -0.9994757669097115,
+              0.03231861280999937
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0055418002595867865,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03302322763368737,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35116132771370767,
+              -0.04190849469846406,
+              1.0277650103181388
+            ],
+            "held_grasp_finger_b": [
+              0.34005887314580474,
+              -0.017563089400083057,
+              1.0277650103181388
+            ],
+            "held_grasp_midpoint": [
+              0.3456101004297562,
+              -0.02973579204927356,
+              1.0277650103181388
+            ],
+            "held_grasp_object_position": [
+              0.35116132771370767,
+              -0.017563089400083057,
+              1.0277650103181388
+            ],
+            "held_grasp_finger_gap": 0.02675748972857481,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02431129059840741,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0019231812919486176,
+              -0.9994757669097115,
+              0.03231861280999937
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0055418002595867865,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03302322763368737,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2937831685375326,
+              0.16255864686946722,
+              0.7565863474134888
+            ],
+            "target_position": [
+              0.30449754392948064,
+              0.14753303815606036,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.018454450879069512,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20920274478281403,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863474134888,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07842610458216626,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09567957344720611,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18327240403581938,
+            "release_required_pad_clearance": 0.05783978672360306,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 11.554325427371364,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 102,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "60d9a43a0265b8f736fe15c0ad0b18ba9b86d51b4f597160f140b6c7f9dfce00",
+    "visual_seed": 6846360897798152715,
+    "episode_index": 102,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_103_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e62c219efc4e2a15575ce11c829d10fd5554ee1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_103_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3277566122246444,
+              0.15185390176149455,
+              0.9981667749495948
+            ],
+            "current_z": 0.9981667749495948,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.14158020793638448,
+            "gripper_z": 0.9986687477161429,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3226633366166113,
+              0.14702207272898496,
+              0.9986687477161429
+            ],
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+              0.005093275608033132,
+              0.004831829032509588,
+              -0.0005019727665480644
+            ],
+            "object_to_gripper_xy": 0.007020543299402676,
+            "object_to_gripper_z": -0.0005019727665480644,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3277566122246444,
+              0.1273474957404095,
+              0.9981667749495948
+            ],
+            "finger_b": [
+              0.316017750824591,
+              0.15185390176149455,
+              0.9981667749495948
+            ],
+            "finger_midpoint": [
+              0.3218871815246177,
+              0.13960069875095202,
+              0.9981667749495948
+            ],
+            "object_minus_finger_midpoint": [
+              0.005869430700026712,
+              0.01225320301054253,
+              0.0
+            ],
+            "finger_gap": 0.0271728688776128,
+            "fingertip_max_gap": 0.09157291904982137,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0135864344388064,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9981667749495948,
+            "object_top_z": 1.043456646803788,
+            "finger_top_clearance": 0.0452898718541932,
+            "fingertip_min_top_clearance": 0.013586961556257942,
+            "object_projection_between_fingers": 0.8133702115779068,
+            "object_to_finger_line_xy": 0.010586931582037135,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04828645952491069,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5710564283884894,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 173,
+            "max_stable_success_frames": 173,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2952612765895965,
+              0.1434122815088763,
+              0.7565863510521731
+            ],
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+              0.14721674103477178,
+              0.7730800627579277
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20960021098897577,
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+            "min_z_margin": 0.2,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_margin": 0.02,
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+            "release_min_pad_clearance": 0.17965365550921114,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.8643786899413834,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 253,
+            "max_placed_release_frames": 253
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 103,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "873ffee30dcb112d878b168db2d4eb769a0989cb0e991fd503fb28c40ea6939c",
+    "visual_seed": 1799800334589752241,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_104_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b5efd909db2ab4b33cd336033010684ee38c8dc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_104_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 104,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "metrics": {
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+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
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+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "source_name": "beaker",
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+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_105_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_105_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd0c7633d269512df6bf78df152010a219eee80c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_105_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 105,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              0.14292732540154734,
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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_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "source_name": "beaker",
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+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024392109078672234,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.024982584318064764,
+              -0.9992834674030587,
+              0.028432767289012784
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0059622957973658975,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.0332866197779125,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.34658109378584623,
+              -0.04491736734707443,
+              1.0262868882153737
+            ],
+            "held_grasp_finger_b": [
+              0.3352752437648137,
+              -0.020790419875511973,
+              1.0262868882153737
+            ],
+            "held_grasp_midpoint": [
+              0.34092816877532994,
+              -0.032853893611293206,
+              1.0262868882153737
+            ],
+            "held_grasp_object_position": [
+              0.34658109378584623,
+              -0.020790419875511973,
+              1.0262868882153737
+            ],
+            "held_grasp_finger_gap": 0.026644546139756538,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024392109078672234,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.024982584318064764,
+              -0.9992834674030587,
+              0.028432767289012784
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0059622957973658975,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0332866197779125,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.29517436667325087,
+              0.16672811364807202,
+              0.7565892842840418
+            ],
+            "target_position": [
+              0.30627528581612723,
+              0.15391227790391318,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.016955118744436396,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2088291528082769,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565892842840418,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07667405656025882,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0914583112735513,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18270097408178865,
+            "release_required_pad_clearance": 0.05572915563677565,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.629865519051821,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 244,
+            "max_placed_release_frames": 244
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 105,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "621664fd9183dda1c8cb5ddb65c9ee08bd369533de5ba0fbe1f10cb2385fe4c5",
+    "visual_seed": 7311228280146605762,
+    "episode_index": 105,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_106_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_106_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb39480e844b490dbf9684f22fd14af8f5fcf919
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_106_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 106,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3240683409071867,
+              0.15907802092850776,
+              0.9982525652525851
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+            "current_z": 0.9982525652525851,
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+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14166605784401953,
+            "gripper_z": 0.9987153277563401,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3188777170149142,
+              0.15410638700984386,
+              0.9987153277563401
+            ],
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+              0.005190623892272539,
+              0.004971633918663898,
+              -0.0004627625037549876
+            ],
+            "object_to_gripper_xy": 0.007187469666874419,
+            "object_to_gripper_z": -0.0004627625037549876,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3240683409071867,
+              0.13462618053523115,
+              0.9982525652525851
+            ],
+            "finger_b": [
+              0.3119705449302592,
+              0.15907802092850776,
+              0.9982525652525851
+            ],
+            "finger_midpoint": [
+              0.31801944291872297,
+              0.14685210073186944,
+              0.9982525652525851
+            ],
+            "object_minus_finger_midpoint": [
+              0.006048897988463753,
+              0.012225920196638318,
+              0.0
+            ],
+            "finger_gap": 0.027280930448165378,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0435515716402166,
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+            "object_projection_between_fingers": 0.8033499073128555,
+            "object_to_finger_line_xy": 0.010843229005708197,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04802530407910409,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0356257865408016,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 173,
+            "max_stable_success_frames": 173,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2920711895211316,
+              0.15871541298363745,
+              0.7565865767246973
+            ],
+            "target_position": [
+              0.29970130611042406,
+              0.1552739039205786,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.008370344305780516,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2102801016866113,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865767246973,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574082272422883,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08738521385231034,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18093400255214864,
+            "release_required_pad_clearance": 0.05369260692615517,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3936249066300705,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 250,
+            "max_placed_release_frames": 250
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 106,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "176036391d9324163743f27201168a9d01a0cb9d7e73b8f22aaa2999ff1dcb5a",
+    "visual_seed": 6286819657613887006,
+    "episode_index": 106,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_107_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_107_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..67b5ce8a14066fc5b5c2fa512921c330e9ffab9d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_107_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 107,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3286736635470394,
+              0.1512673287016076,
+              0.9990314398819841
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+            "current_z": 0.9990314398819841,
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+            "lift_margin": 0.14244505168270805,
+            "gripper_z": 0.9994248011059095,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.14639551672908765,
+              0.9994248011059095
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+              0.004871811972519957,
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+            "object_to_gripper_z": -0.0003933612239254147,
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+              0.12691734920808015,
+              0.9990314398819841
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+            "finger_b": [
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+              0.1512673287016076,
+              0.9990314398819841
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+            "finger_midpoint": [
+              0.32271394947978693,
+              0.13909233895484388,
+              0.9990314398819841
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+            "object_minus_finger_midpoint": [
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+              0.012174989746763731,
+              0.0
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 173,
+            "max_stable_success_frames": 173,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              ],
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.009150477269060835,
+              0.7701464494012565
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+            "required_height": 0.8001464494012566,
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.25489233875076,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_max_tilt_deg": 20.0,
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+            "max_source_tilt_deg": 89.77776120507397,
+            "source_upright_tilt_deg": 1.5706932958104303,
+            "max_source_upright_tilt_deg": 89.85653835538261,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.9511151529138302,
+            "source_upright_return_tilt_deg": 1.5706932958104303,
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+            "target_xy_drift": 2.1420419216156006e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3414,
+                -0.0092,
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+              "controller_target_position": [
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+                -0.0092,
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+              "controller_target_minus_raw_target": [
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+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              ],
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+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                  0.0,
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+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
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+                "approach_xy_threshold_m": 0.08,
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+                  -0.00019370261608889412,
+                  0.00020692542993429666,
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+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
+              "source_return_upright_error_deg": 1.5706601984680912,
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+              "source_return_stable_frames": 5,
+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 1.9429012018992076,
+              "source_return_best_wrist_position": -1.6097683906555176,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6097683906555176
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3414,
+              -0.0092,
+              0.7701
+            ],
+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
+              0.0,
+              0.0,
+              -0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              -0.0002,
+              0.0002,
+              -0.001
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.3412,
+              -0.0344,
+              1.0345
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0628,
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.00019370261608889412,
+                0.00020692542993429666,
+                -0.001021700654077493
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 1.5706601984680912,
+            "pour_controller_source_return_step_error_deg": 1.9510561416569925,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.9429012018992076,
+            "pour_controller_source_return_best_wrist_position": -1.6097683906555176,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6097683906555176,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.013009821314105257,
+            "valid_pour_held_xy_dist": 0.010083399329786259,
+            "valid_pour_held_gripper_dist": 0.00700001512683329,
+            "valid_pour_required_height": 0.8001464494012566,
+            "valid_pour_held_z": 1.0259851412777428,
+            "valid_pour_source_tilt_deg": 1.9511151529138302,
+            "valid_pour_source_upright_tilt_deg": 1.5706932958104303,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 2.1420419216156006e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3471767394787415,
+              -0.0417054022811841,
+              1.0259851412777428
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.33600407902822715,
+              -0.017408237232516836,
+              1.0259851412777428
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.34159040925348433,
+              -0.02955681975685047,
+              1.0259851412777428
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3471767394787415,
+              -0.017408237232516836,
+              1.0259851412777428
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02674286018631264,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024290871662934817,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.0002538074313500043,
+              -0.9996242734506494,
+              0.027408894725056254
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005599321823816992,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03305762483859366,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3471767394787415,
+              -0.0417054022811841,
+              1.0259851412777428
+            ],
+            "held_grasp_finger_b": [
+              0.33600407902822715,
+              -0.017408237232516836,
+              1.0259851412777428
+            ],
+            "held_grasp_midpoint": [
+              0.34159040925348433,
+              -0.02955681975685047,
+              1.0259851412777428
+            ],
+            "held_grasp_object_position": [
+              0.3471767394787415,
+              -0.017408237232516836,
+              1.0259851412777428
+            ],
+            "held_grasp_finger_gap": 0.02674286018631264,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024290871662934817,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.0002538074313500043,
+              -0.9996242734506494,
+              0.027408894725056254
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005599321823816992,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03305762483859366,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2984851362651152,
+              0.14960513234599024,
+              0.7565864497688077
+            ],
+            "target_position": [
+              0.3044924434768062,
+              0.14778367503747195,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.006277375778332024,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2116344019812497,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864497688077,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547362458818785,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08936435462844076,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18250069967655858,
+            "release_required_pad_clearance": 0.054682177314220384,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.408494779124625,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 107,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0c7cae5e3a3cb5136a72f5b5662a876c0d5bc5d65fe1281766d7b93f318086b7",
+    "visual_seed": 6190353662597019011,
+    "episode_index": 107,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_108_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_108_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8756e053d544b84e1f635e3c702e2bda3a7528a3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_108_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 108,
+  "success": true,
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+            "valid_pour_held_grasp_top_clearance": 0.03304649333480193,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3535737125267316,
+              -0.03968555261369337,
+              1.0284478378893798
+            ],
+            "held_grasp_finger_b": [
+              0.3425469302043727,
+              -0.015396382493010084,
+              1.0284478378893798
+            ],
+            "held_grasp_midpoint": [
+              0.34806032136555215,
+              -0.02754096755335173,
+              1.0284478378893798
+            ],
+            "held_grasp_object_position": [
+              0.3535737125267316,
+              -0.015396382493010084,
+              1.0284478378893798
+            ],
+            "held_grasp_finger_gap": 0.026674964171225796,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02425212022246244,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.002509482727478224,
+              -0.9996138864194771,
+              0.027672740626643266
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005493199052051563,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03304649333480193,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.29511246340061353,
+              0.14557957317761808,
+              0.7565864399376196
+            ],
+            "target_position": [
+              0.3039886344493537,
+              0.14637324562140103,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.008911583946443724,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20823149368780508,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864399376196,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570265667428733,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08580562254103923,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17838915184933413,
+            "release_required_pad_clearance": 0.052902811270519615,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8448722974987047,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 213,
+            "max_placed_release_frames": 213
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 108,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "633b44893e95fa95a6c8640cc0864298a598aad025cdde6cb38386fea186321b",
+    "visual_seed": 2022405989020612238,
+    "episode_index": 108,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_10_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c03cec31db223024d4aced339a76e5aacc5ac7b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_10_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3293054502821811,
+              0.15627057430248417,
+              0.9987172856637462
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+            "current_z": 0.9987172856637462,
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+            "gripper_z": 0.9987876941926974,
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+            "gripper_position": [
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+              0.15138627477589578,
+              0.9987876941926974
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+              0.004884299526588393,
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+            "object_to_gripper_z": -7.040852895123795e-05,
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+              0.3293054502821811,
+              0.13187924997262207,
+              0.9987172856637462
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+            "finger_b": [
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+              0.15627057430248417,
+              0.9987172856637462
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+            "finger_midpoint": [
+              0.32334623905689225,
+              0.14407491213755313,
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+              0.012195662164931037,
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+            "fingertip_xy_max_dist": 0.055,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 173,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573633484228241,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08657876374516614,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17916376541676035,
+            "release_required_pad_clearance": 0.05328938187258307,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5968779029058786,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "044bc040f530e57d9c2af3e62f661e35452dee95d1375ac1d74b3781b9168610",
+    "visual_seed": 7357045087330200074,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_110_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_110_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7ecc63ea4a96ba6aa27cf47966e8631ebe23a36
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_110_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 110,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3265437474755654,
+              0.15645848387362737,
+              0.9997699721758181
+            ],
+            "current_z": 0.9997699721758181,
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+            "initial_z": 0.7565863881992761,
+            "lift_margin": 0.14318358397654196,
+            "gripper_z": 1.0003248144378045,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.1516704970450296,
+              1.0003248144378045
+            ],
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+              0.004787986828597768,
+              -0.0005548422619864324
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+            "object_to_gripper_z": -0.0005548422619864324,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3265437474755654,
+              0.13170608035386197,
+              0.9997699721758181
+            ],
+            "finger_b": [
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+              0.15645848387362737,
+              0.9997699721758181
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+            "finger_midpoint": [
+              0.3208077164566181,
+              0.1440822821137447,
+              0.9997699721758181
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012376201759882688,
+              0.0
+            ],
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+            "object_to_finger_line_xy": 0.010408493191496733,
+            "fingertip_xy_max_dist": 0.055,
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+            "fingertip_line_xy_max_dist": 0.048208689550546316,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 175,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "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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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.94144309403659,
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+            "max_source_upright_tilt_deg": 89.97645051885908,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.0527943015442753,
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+            "target_xy_drift": 6.705684223229111e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
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+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+              "controller_target_minus_raw_target": [
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+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.345,
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+            "pour_controller_controller_target_minus_raw_target": [
+              0.0,
+              -0.0,
+              0.0
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.0007,
+              0.0015,
+              -0.0011
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+              -0.0296,
+              1.0344
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
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+              0.0639,
+              0.0932
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+            "pour_controller_height_range_1": [
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+            "pour_controller_height_range_2": [
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+              0.2
+            ],
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+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                0.0006598215083321204,
+                0.0014525107652023674,
+                -0.0010914537159606064
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 1.9132816769714243,
+            "pour_controller_source_return_step_error_deg": 2.052789524266825,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.0429440280477174,
+            "pour_controller_source_return_best_wrist_position": -1.6093270778656006,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6093270778656006,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.01172891892952765,
+            "valid_pour_held_xy_dist": 0.009280098522399468,
+            "valid_pour_held_gripper_dist": 0.007103254483626811,
+            "valid_pour_required_height": 0.8001464494012568,
+            "valid_pour_held_z": 1.025506258454358,
+            "valid_pour_source_tilt_deg": 2.0527943015442753,
+            "valid_pour_source_upright_tilt_deg": 1.9132866363973113,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.705684223229111e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.351189688164555,
+              -0.03707727662629791,
+              1.025506258454358
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3400130684698169,
+              -0.01268154897267633,
+              1.025506258454358
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.34560137831718596,
+              -0.02487941279948712,
+              1.025506258454358
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.351189688164555,
+              -0.01268154897267633,
+              1.025506258454358
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026834089430246823,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024560208494788686,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.015933373474168528,
+              -0.9994425083440426,
+              0.02933939543857378
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005792937803734655,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.033098201974191443,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.351189688164555,
+              -0.03707727662629791,
+              1.025506258454358
+            ],
+            "held_grasp_finger_b": [
+              0.3400130684698169,
+              -0.01268154897267633,
+              1.025506258454358
+            ],
+            "held_grasp_midpoint": [
+              0.34560137831718596,
+              -0.02487941279948712,
+              1.025506258454358
+            ],
+            "held_grasp_object_position": [
+              0.351189688164555,
+              -0.01268154897267633,
+              1.025506258454358
+            ],
+            "held_grasp_finger_gap": 0.026834089430246823,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024560208494788686,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.015933373474168528,
+              -0.9994425083440426,
+              0.02933939543857378
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005792937803734655,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.033098201974191443,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2971358563926986,
+              0.15318980803123947,
+              0.7565874878790891
+            ],
+            "target_position": [
+              0.30219372772067465,
+              0.15245637479389995,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.005110771632933358,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21250825849877578,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565874878790891,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518902491288963,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08943147589250593,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18369799677329496,
+            "release_required_pad_clearance": 0.054715737946252965,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.472491603195093,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 110,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9da66da8b3fee2ad68efdd1880ad1179ee4a6b22bff8d967bc98d080dc6f9b10",
+    "visual_seed": 6082887153901141526,
+    "episode_index": 110,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_111_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_111_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ae70a71219c03e07fa2e943b3137e45e7eb1906
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_111_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 111,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3250803842609198,
+              0.15041164149002245,
+              0.9975250594495576
+            ],
+            "current_z": 0.9975250594495576,
+            "required_z": 0.8565863881992761,
+            "initial_z": 0.7565863881992761,
+            "lift_margin": 0.14093867125028148,
+            "gripper_z": 0.9980925642729421,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024377655786058872,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.038156360405967565,
+              -0.9988338369330981,
+              0.029581385330563204
+            ],
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+            "held_grasp_object_to_finger_line_xy": 0.006300228562274358,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03345687830218781,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.29930832693417064,
+              0.15000859164724334,
+              0.7565863831375198
+            ],
+            "target_position": [
+              0.3008308930929357,
+              0.14916178821302448,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0017422065790317312,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.213465402316136,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863831375198,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757025147451133,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0857662145296537,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1834591534971756,
+            "release_required_pad_clearance": 0.052883107264826854,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8059951709449539,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 214,
+            "max_placed_release_frames": 214
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 111,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f0d9f37857f5254209d6293198fe86c5ea0dd91870a6dfecf65885f3e4f93983",
+    "visual_seed": 2577982278467592614,
+    "episode_index": 111,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_112_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_112_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecc5e44b62a95c3500ab5812121f3970e44f22ef
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_112_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 112,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+              1.000642295259807
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+              0.1523121428772903,
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+              0.14469838865180648,
+              1.000642295259807
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+            "fingertip_z_max_dist": 0.1,
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+            "stable_success_frames": 175,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              ],
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+            "failed_keys": []
+          }
+        },
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+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 112,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b80b7fd60c302c912144bddef2c512a519369e18aeb08e65e16d55d321f7dcd7",
+    "visual_seed": 6820100938080824181,
+    "episode_index": 112,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_11_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f64d625fc85de4dad24f9258634332747da9a15
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_11_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3292090991328686,
+              0.1597749614097915,
+              0.9993574423653144
+            ],
+            "current_z": 0.9993574423653144,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14277093495674886,
+            "gripper_z": 0.9996193664830139,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32419917614828314,
+              0.15491144730228035,
+              0.9996193664830139
+            ],
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+              0.005009922984585469,
+              0.004863514107511152,
+              -0.00026192411769943025
+            ],
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+            "object_to_gripper_z": -0.00026192411769943025,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3292090991328686,
+              0.13541734703945912,
+              0.9993574423653144
+            ],
+            "finger_b": [
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+              0.1597749614097915,
+              0.9993574423653144
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+            "finger_midpoint": [
+              0.3232597348679638,
+              0.1475961542246253,
+              0.9993574423653144
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+            "object_minus_finger_midpoint": [
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+              0.012178807185166202,
+              0.0
+            ],
+            "finger_gap": 0.027108543274029503,
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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": 0.01069126577908135,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048227212919544,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.453446929014298,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 174,
+            "max_stable_success_frames": 174,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.009545224861569628,
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+              -0.024292171605792362,
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+              0.014746946744222734,
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+              0.004794881356747875,
+              -0.0003314725954233211
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+            "xy_threshold": 0.15,
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+            "required_height": 0.8001463897966117,
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.25138845170655,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "source_upright_axis_local": [
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+            "max_source_tilt_deg": 89.81613694194637,
+            "source_upright_tilt_deg": 1.7905412428353369,
+            "max_source_upright_tilt_deg": 89.91062692012221,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 5.0669426131007984e-08,
+            "max_target_xy_drift": 9.253429136091706e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                -0.0095,
+                0.7701
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+              "controller_target_position": [
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+                -0.0095,
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+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0,
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+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+            "pour_controller_workflow_step_index": 1,
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_raw_target_position": [
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+            "pour_controller_lock_target_position": true,
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+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_last_pour_pose_position": [
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+              1.0372
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+            "pour_controller_source_size": [
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+              0.0637,
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+            ],
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+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                -0.0015511629159517964,
+                0.0016446208841309202
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 1.7905520072258918,
+            "pour_controller_source_return_step_error_deg": 1.8404395991021694,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.8306159761705607,
+            "pour_controller_source_return_best_wrist_position": -1.6101412773132324,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6101412773132324,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.014780304767956557,
+            "valid_pour_held_xy_dist": 0.011654962205423464,
+            "valid_pour_held_gripper_dist": 0.006988567842426324,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.0285531692486811,
+            "valid_pour_source_tilt_deg": 1.8404156469531416,
+            "valid_pour_source_upright_tilt_deg": 1.7905412428353369,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 5.0669426131007984e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.34386499314784597,
+              -0.04361047009361,
+              1.0285531692486811
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.33244005823715295,
+              -0.019497290249044487,
+              1.0285531692486811
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.33815252569249943,
+              -0.031553880171327243,
+              1.0285531692486811
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.34386499314784597,
+              -0.019497290249044487,
+              1.0285531692486811
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026682851795299778,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024251313774945715,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.013121075773524064,
+              -0.9995117397885109,
+              0.028356999056485588
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.00588005697881381,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.033224475515008706,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.34386499314784597,
+              -0.04361047009361,
+              1.0285531692486811
+            ],
+            "held_grasp_finger_b": [
+              0.33244005823715295,
+              -0.019497290249044487,
+              1.0285531692486811
+            ],
+            "held_grasp_midpoint": [
+              0.33815252569249943,
+              -0.031553880171327243,
+              1.0285531692486811
+            ],
+            "held_grasp_object_position": [
+              0.34386499314784597,
+              -0.019497290249044487,
+              1.0285531692486811
+            ],
+            "held_grasp_finger_gap": 0.026682851795299778,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024251313774945715,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.013121075773524064,
+              -0.9995117397885109,
+              0.028356999056485588
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00588005697881381,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.033224475515008706,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3048754902081105,
+              0.16126702602704193,
+              0.7565863282325753
+            ],
+            "target_position": [
+              0.3050437445363888,
+              0.1556485787474354,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.005620966051552206,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21467590970807637,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863282325753,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536945904642459,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08837904658761679,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18595341562142453,
+            "release_required_pad_clearance": 0.0541895232938084,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.395087425175707,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 213,
+            "max_placed_release_frames": 213
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "89337a20527b927fb3b2c2ef26a3fbfcfc5ea44bbba900c24b1ce7d77ba6c7f3",
+    "visual_seed": 9087839609630304430,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_12_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c82ab02bdaca6849478a759b3f84573730e96654
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_12_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3303211350930656,
+              0.15464077020094144,
+              1.0004209723460689
+            ],
+            "current_z": 1.0004209723460689,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.14383452454214807,
+            "gripper_z": 1.0011437468281719,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3251612064199007,
+              0.1497521427996018,
+              1.0011437468281719
+            ],
+            "object_minus_gripper": [
+              0.005159928673164893,
+              0.004888627401339635,
+              -0.0007227744821030058
+            ],
+            "object_to_gripper_xy": 0.0071079914027296015,
+            "object_to_gripper_z": -0.0007227744821030058,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3303211350930656,
+              0.13008619494246906,
+              1.0004209723460689
+            ],
+            "finger_b": [
+              0.318503717673908,
+              0.15464077020094144,
+              1.0004209723460689
+            ],
+            "finger_midpoint": [
+              0.3244124263834868,
+              0.14236348257170525,
+              1.0004209723460689
+            ],
+            "object_minus_finger_midpoint": [
+              0.005908708709578825,
+              0.012277287629236189,
+              0.0
+            ],
+            "finger_gap": 0.027250293954058424,
+            "fingertip_max_gap": 0.09144913986339001,
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+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3048157032749509,
+              0.1544795756956251,
+              0.7565863469041989
+            ],
+            "target_position": [
+              0.3060227485952013,
+              0.1529849791459561,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0019211395710413246,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21388550869305992,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863469041989,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583089387041735,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08568487228387865,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18347351358987468,
+            "release_required_pad_clearance": 0.05284243614193933,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7284642648167122,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 212,
+            "max_placed_release_frames": 212
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2428303eaae3e2b00e8359c7683ff3c46b1339d7d74790d10c1924b5c45ba1c6",
+    "visual_seed": 7011340827973804929,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_13_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcbaa19b519cf729428387e29bc5f5d7b6166a25
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_13_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "failed_keys": [],
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+          "failure_messages": {},
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+            "disturbances": [],
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "50e9cbfdbca0ec9f9adf4f3dde795be5beb52058636eb02a4b93e5015b94cfda",
+    "visual_seed": 7470668639846536256,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_14_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..317ea7679a3627080cb3a24e0e2f48d74fc7f097
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_14_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.15400953282880972,
+              0.9992725031242833
+            ],
+            "current_z": 0.9992725031242833,
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+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14268599571571772,
+            "gripper_z": 0.9996781517458192,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.14922092178452145,
+              0.9996781517458192
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+              0.004788611044288266,
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+            "object_to_gripper_z": -0.0004056486215359145,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.1293685731310886,
+              0.9992725031242833
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+            "finger_b": [
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+              0.15400953282880972,
+              0.9992725031242833
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+              0.14168905297994916,
+              0.9992725031242833
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+              0.01232047984886056,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 174,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              ],
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+            },
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+          }
+        },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7701463897966118
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+              -0.026129307512370942,
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.2610121882471,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.95590155613124,
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+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 3.539025783365346e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_tilt_deg": 0.0,
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+              "controller_target_position": [
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+              "pour_pose_offset": [
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+              "wrist_joint_name": "wrist_3_joint",
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+              0.4
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+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+              "pour_height_range_m": [
+                0.2,
+                0.2
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+            },
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+            "pour_controller_source_pose_held_object": "beaker_b",
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.101883167005616,
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+            "pour_controller_wrist_compensated_return_position": -1.6101049184799194,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.01468138207392804,
+            "valid_pour_held_xy_dist": 0.010891837701128667,
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+            "valid_pour_required_height": 0.8001463897966118,
+            "valid_pour_held_z": 1.0261388319960951,
+            "valid_pour_source_tilt_deg": 2.1087202906749574,
+            "valid_pour_source_upright_tilt_deg": 1.8051580882604525,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.539025783365346e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.34830342139588627,
+              -0.04578829215978925,
+              1.0261388319960951
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.33722785459971605,
+              -0.021412611756114128,
+              1.0261388319960951
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.34276563799780113,
+              -0.033600451957951694,
+              1.0261388319960951
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.34830342139588627,
+              -0.021412611756114128,
+              1.0261388319960951
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026773904739476082,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02450500626553866,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.012768884155213114,
+              -0.9995037362112664,
+              0.02879647369297023
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0057037025509666375,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.033089144462415065,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.34830342139588627,
+              -0.04578829215978925,
+              1.0261388319960951
+            ],
+            "held_grasp_finger_b": [
+              0.33722785459971605,
+              -0.021412611756114128,
+              1.0261388319960951
+            ],
+            "held_grasp_midpoint": [
+              0.34276563799780113,
+              -0.033600451957951694,
+              1.0261388319960951
+            ],
+            "held_grasp_object_position": [
+              0.34830342139588627,
+              -0.021412611756114128,
+              1.0261388319960951
+            ],
+            "held_grasp_finger_gap": 0.026773904739476082,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02450500626553866,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.012768884155213114,
+              -0.9995037362112664,
+              0.02879647369297023
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0057037025509666375,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.033089144462415065,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.29075794560498924,
+              0.14914376756887232,
+              0.7565973598617828
+            ],
+            "target_position": [
+              0.3035784879621891,
+              0.14964492453569778,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.012830333769553844,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20794967372273063,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565973598617828,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755179828883534,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08843416015910964,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17880336606227692,
+            "release_required_pad_clearance": 0.05421708007955482,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.410636696613414,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 251,
+            "max_placed_release_frames": 251
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7f80999635c7c1960b96bfb746fa501ecd7bdbd4ef408d980fdd0289da3ab61d",
+    "visual_seed": 4878610266333826302,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_15_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e70b37ed773f0685f6be5642c015ddafea2c3008
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_15_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.32890888199562557,
+              0.15740138898730646,
+              0.9987529168283491
+            ],
+            "current_z": 0.9987529168283491,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.14216629021049398,
+            "gripper_z": 0.9990486483062607,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3239887859073859,
+              0.15252590498104615,
+              0.9990486483062607
+            ],
+            "object_minus_gripper": [
+              0.004920096088239678,
+              0.004875484006260311,
+              -0.00029573147791162047
+            ],
+            "object_to_gripper_xy": 0.006926592944067919,
+            "object_to_gripper_z": -0.00029573147791162047,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32890888199562557,
+              0.1331989554353422,
+              0.9987529168283491
+            ],
+            "finger_b": [
+              0.31687733267500423,
+              0.15740138898730646,
+              0.9987529168283491
+            ],
+            "finger_midpoint": [
+              0.3228931073353149,
+              0.14530017221132432,
+              0.9987529168283491
+            ],
+            "object_minus_finger_midpoint": [
+              0.006015774660310669,
+              0.012101216775982138,
+              0.0
+            ],
+            "finger_gap": 0.027028058918312833,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013514029459156416,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9987529168283491,
+            "object_top_z": 1.0440717503923282,
+            "finger_top_clearance": 0.045318833563979144,
+            "fingertip_min_top_clearance": 0.013595650069193744,
+            "object_projection_between_fingers": 0.8018411845614472,
+            "object_to_finger_line_xy": 0.01077372125906612,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048298035127804714,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.628902957077185,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
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+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
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+              0.30323110757320954,
+              0.16158578654094413,
+              0.7565864373992082
+            ],
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+              0.7730800627579277
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18556527012685656,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.568431051880744,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 214,
+            "max_placed_release_frames": 214
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fc767dc16a1004963d2dc6af5d6304bde994b32a2ea4868836d5b7519601eff8",
+    "visual_seed": 428711561969393603,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_16_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d62184d96b184d6ad4ea5a7fdf4e751b571ecd77
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_16_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+              "allowed_object_paths": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+    {
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+      "skill": "pour",
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+      "reason": "executed",
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+        "checker": {
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+                "fr3_leftfinger",
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+                "gripper",
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+                "panda_joint4",
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+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
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+                "ridgebase_festo",
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+                "ridgebase_rizon4",
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+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
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+                "tool_center",
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+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "122899e99bc2e8552b41f56940c3a8d16d313fd9d4c219b7be6a467246cbeefb",
+    "visual_seed": 6683571805224523783,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_17_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..63bfd5f62d362f30660cf8f06d11416682dc3a53
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_17_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "target": "beaker_b",
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+      "reason": "executed",
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+              0.13533036703053708,
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+              0.9987363652867198
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+              0.1476564931850048,
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+            "stable_success_frames": 174,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "source_tilt_threshold_deg": 30.0,
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+            "max_valid_pour_pose_frames": 219,
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+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.013961765735223383,
+            "valid_pour_held_xy_dist": 0.011737868528434649,
+            "valid_pour_held_gripper_dist": 0.00695446751935474,
+            "valid_pour_required_height": 0.8001464494012563,
+            "valid_pour_held_z": 1.0261296383392673,
+            "valid_pour_source_tilt_deg": 1.900283871324752,
+            "valid_pour_source_upright_tilt_deg": 2.2893846594948326,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.839941346661803e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.34785652950935614,
+              -0.041912043283213386,
+              1.0261296383392673
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.33658868793905183,
+              -0.01772964175359379,
+              1.0261296383392673
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.34222260872420396,
+              -0.029820842518403588,
+              1.0261296383392673
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.34785652950935614,
+              -0.01772964175359379,
+              1.0261296383392673
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02667869557143351,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024454597524628266,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.02586989431082523,
+              -0.9992018213946788,
+              0.03043794818812639
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005956077267808778,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03326442407403154,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.34785652950935614,
+              -0.041912043283213386,
+              1.0261296383392673
+            ],
+            "held_grasp_finger_b": [
+              0.33658868793905183,
+              -0.01772964175359379,
+              1.0261296383392673
+            ],
+            "held_grasp_midpoint": [
+              0.34222260872420396,
+              -0.029820842518403588,
+              1.0261296383392673
+            ],
+            "held_grasp_object_position": [
+              0.34785652950935614,
+              -0.01772964175359379,
+              1.0261296383392673
+            ],
+            "held_grasp_finger_gap": 0.02667869557143351,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024454597524628266,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.02586989431082523,
+              -0.9992018213946788,
+              0.03043794818812639
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005956077267808778,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03326442407403154,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3050666751281103,
+              0.16190950998276682,
+              0.7565863395201144
+            ],
+            "target_position": [
+              0.30693206235085374,
+              0.1555461414712753,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0066311483397535525,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21265465153057092,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863395201144,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518573218918678,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08792870669311857,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1848809713880909,
+            "release_required_pad_clearance": 0.05396435334655929,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.9393397039955707,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 211,
+            "max_placed_release_frames": 211
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e08805d1d4b2e2cbcd154a2bc999f320fdd1f46620561cacfe5d18e6bbe2f3f4",
+    "visual_seed": 3967787782957855574,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_18_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d337c33f87eaa213f61b36dcc35d29914f51a4b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_18_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3246251665802468,
+              0.15515469013692948,
+              0.9977300573093475
+            ],
+            "current_z": 0.9977300573093475,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.14114366911007148,
+            "gripper_z": 0.9982745668781403,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31956595514807706,
+              0.1502807385318019,
+              0.9982745668781403
+            ],
+            "object_minus_gripper": [
+              0.005059211432169752,
+              0.004873951605127574,
+              -0.000544509568792817
+            ],
+            "object_to_gripper_xy": 0.007025028438698506,
+            "object_to_gripper_z": -0.000544509568792817,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3246251665802468,
+              0.13072692964769292,
+              0.9977300573093475
+            ],
+            "finger_b": [
+              0.31275721417132435,
+              0.15515469013692948,
+              0.9977300573093475
+            ],
+            "finger_midpoint": [
+              0.3186911903757856,
+              0.1429408098923112,
+              0.9977300573093475
+            ],
+            "object_minus_finger_midpoint": [
+              0.005933976204461233,
+              0.01221388024461828,
+              0.0
+            ],
+            "finger_gap": 0.027158125430521807,
+            "fingertip_max_gap": 0.09168953782322206,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013579062715260904,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9977300573093475,
+            "object_top_z": 1.0430960936425948,
+            "finger_top_clearance": 0.04536603633324732,
+            "fingertip_min_top_clearance": 0.013609810899974178,
+            "object_projection_between_fingers": 0.809035775899345,
+            "object_to_finger_line_xy": 0.010674797849523235,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04834476891161103,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.638357132036985,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 172,
+            "max_stable_success_frames": 172,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
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+                "fr3_joint7",
+                "fr3_leftfinger",
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+                "gripper",
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+                "mobile_translate_y",
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+                },
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+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.30235527405088886,
+              0.15276953551720782,
+              0.7565863302907829
+            ],
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+              0.15020694828582012,
+              0.7730800627579277
+            ],
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+            "xy_dist": 0.003220245682518501,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.217170508187772,
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+            "gripper_away_ok": true,
+            "object_z": 0.7565863302907829,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524695078667212,
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18774997234993004,
+            "release_required_pad_clearance": 0.053488700686164334,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9900931108497026,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ad782e2f4059239b6083fbb2ae7a5037ecac68a850f25af5969b5f0b025fecae",
+    "visual_seed": 7561511121678085713,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_19_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..99510d12283a56a630b2dbac4859ce173c11bba9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_19_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "failed_keys": [],
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+          "failure_messages": {},
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+    {
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+      "skill": "pour",
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+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "metrics": {
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "target_upright_reference_source": "scene_initial",
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
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+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4d99422329815987570f82d5eeaef8ed9ac855bbe7784db62029c31ae4066775",
+    "visual_seed": 5533834923302280659,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_1_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4ff5c395bb371ea1ae2d6eca41407ad22dff7aa
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_1_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
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+                "ground",
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+                "wheel",
+                "workbench"
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+            "status": "active",
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+            "source_missing": false,
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+      "skill": "pour",
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+      "reason": "executed",
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+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3501168239744452,
+              -0.04187937022646864,
+              1.0278016781320278
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3385907163801493,
+              -0.017935257935440714,
+              1.0278016781320278
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3443537701772973,
+              -0.029907314080954678,
+              1.0278016781320278
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3501168239744452,
+              -0.017935257935440714,
+              1.0278016781320278
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026573890751650203,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024456195708028157,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.04776505958994823,
+              -0.9983936844843532,
+              0.030472116174079522
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.006338586735896147,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.033522672327878394,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3501168239744452,
+              -0.04187937022646864,
+              1.0278016781320278
+            ],
+            "held_grasp_finger_b": [
+              0.3385907163801493,
+              -0.017935257935440714,
+              1.0278016781320278
+            ],
+            "held_grasp_midpoint": [
+              0.3443537701772973,
+              -0.029907314080954678,
+              1.0278016781320278
+            ],
+            "held_grasp_object_position": [
+              0.3501168239744452,
+              -0.017935257935440714,
+              1.0278016781320278
+            ],
+            "held_grasp_finger_gap": 0.026573890751650203,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024456195708028157,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.04776505958994823,
+              -0.9983936844843532,
+              0.030472116174079522
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006338586735896147,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.033522672327878394,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2898184965762418,
+              0.1571523594583534,
+              0.7565866370587425
+            ],
+            "target_position": [
+              0.3042736996575838,
+              0.1495921844393315,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.016312852063360375,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2037910878573997,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565866370587425,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568198456258747,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09091836372348809,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17653835247744304,
+            "release_required_pad_clearance": 0.05545918186174405,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.053065489083855,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 253,
+            "max_placed_release_frames": 253
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "169bae0b13805bc47be5d7006d9400b7c33d192362e01f2b05316b0ef8d54299",
+    "visual_seed": 2243359592158113452,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_20_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b06195c1946a3591e646852d69ad7f20f86dcf03
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_20_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3217267208290892,
+              0.151697863665323,
+              1.0003053460371674
+            ],
+            "current_z": 1.0003053460371674,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1437188386286018,
+            "gripper_z": 1.0002338717897952,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31670132568370557,
+              0.14703130841595768,
+              1.0002338717897952
+            ],
+            "object_minus_gripper": [
+              0.005025395145383638,
+              0.004666555249365323,
+              7.14742473721941e-05
+            ],
+            "object_to_gripper_xy": 0.006857939505611323,
+            "object_to_gripper_z": 7.14742473721941e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3217267208290892,
+              0.1270222722087764,
+              1.0003053460371674
+            ],
+            "finger_b": [
+              0.31051162900116225,
+              0.151697863665323,
+              1.0003053460371674
+            ],
+            "finger_midpoint": [
+              0.31611917491512576,
+              0.1393600679370497,
+              1.0003053460371674
+            ],
+            "object_minus_finger_midpoint": [
+              0.005607545913963452,
+              0.012337795728273315,
+              0.0
+            ],
+            "finger_gap": 0.027104669310641472,
+            "fingertip_max_gap": 0.09153083306848661,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013552334655320738,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0003053460371674,
+            "object_top_z": 1.0455984007422332,
+            "finger_top_clearance": 0.04529305470506584,
+            "fingertip_min_top_clearance": 0.013587916411519768,
+            "object_projection_between_fingers": 0.8287946067033362,
+            "object_to_finger_line_xy": 0.010210012928839933,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04826541653424331,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3597942386638522,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 174,
+            "max_stable_success_frames": 174,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2937513607176321,
+              0.15055816378313688,
+              0.756586425993613
+            ],
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+              0.7730800627579277
+            ],
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+            "gripper_dist": 0.21352850514427635,
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+            "gripper_away_ok": true,
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18422021023805552,
+            "release_required_pad_clearance": 0.053780085083297444,
+            "release_pad_clearance_ok": true,
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.5693222360002093,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "efa6ada447d70dcbd94e443e12934fd365fc113b0dbb7d21010a07550288b34c",
+    "visual_seed": 6912055755847591831,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_21_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a880c51adb86054ce7591a7b3a066f8777add7a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_21_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "skill": "pick",
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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,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "metrics": {
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "target_upright_reference_source": "scene_initial",
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+            "target_max_tilt_deg": 20.0,
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+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
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+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_22_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..35aa7475fa07c973a558075208e481b66505d431
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_22_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+              0.9996699442047601
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+              0.14407822345407467,
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+              0.0048721411060654585,
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+            "object_to_gripper_z": -0.0005285699727521909,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.12443170947781819,
+              0.9996699442047601
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+              0.14895036456014013,
+              0.9996699442047601
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+              0.13669103701897917,
+              0.9996699442047601
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+              0.012259327541160964,
+              0.0
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+              0.0,
+              1.0
+            ],
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+          }
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+      },
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
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+            "source_tilt_threshold_deg": 30.0,
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+            "target_upright_axis_local": [
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02436275606382574,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.0269018111989565,
+              -0.9992740779007241,
+              0.026974243082494513
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.006142880732030338,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.0333315957974825,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.34813440016261793,
+              -0.03239285143180765,
+              1.0311480276862983
+            ],
+            "held_grasp_finger_b": [
+              0.3365088311155522,
+              -0.008325373117184077,
+              1.0311480276862983
+            ],
+            "held_grasp_midpoint": [
+              0.34232161563908503,
+              -0.020359112274495866,
+              1.0311480276862983
+            ],
+            "held_grasp_object_position": [
+              0.34813440016261793,
+              -0.008325373117184077,
+              1.0311480276862983
+            ],
+            "held_grasp_finger_gap": 0.026728212961082323,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02436275606382574,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.0269018111989565,
+              -0.9992740779007241,
+              0.026974243082494513
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006142880732030338,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0333315957974825,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2935300425269868,
+              0.15296417506354232,
+              0.7565869939302703
+            ],
+            "target_position": [
+              0.30113475551919844,
+              0.14717629616091163,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.009556735943062895,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20994230426819485,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565869939302703,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525403861204984,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08889856764631547,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18199748759474454,
+            "release_required_pad_clearance": 0.05444928382315774,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.924680937997,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 253,
+            "max_placed_release_frames": 253
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "150a1e18b4722c21336b543c684d004dbef3bd580e92c38c3cb763708745bc61",
+    "visual_seed": 8784282683836255034,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_23_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eff2278027faf8b5f3c89baceaec3557e886270b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_23_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.32431389354801143,
+              0.1529069547879151,
+              0.999348610706916
+            ],
+            "current_z": 0.999348610706916,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.14276216290299526,
+            "gripper_z": 0.9999204736517411,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3192339745782042,
+              0.14793943757504444,
+              0.9999204736517411
+            ],
+            "object_minus_gripper": [
+              0.005079918969807251,
+              0.00496751721287067,
+              -0.0005718629448250301
+            ],
+            "object_to_gripper_xy": 0.007105054820335587,
+            "object_to_gripper_z": -0.0005718629448250301,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32431389354801143,
+              0.12860557744861678,
+              0.999348610706916
+            ],
+            "finger_b": [
+              0.31213268978832254,
+              0.1529069547879151,
+              0.999348610706916
+            ],
+            "finger_midpoint": [
+              0.318223291668167,
+              0.14075626611826594,
+              0.999348610706916
+            ],
+            "object_minus_finger_midpoint": [
+              0.006090601879844448,
+              0.012150688669649162,
+              0.0
+            ],
+            "finger_gap": 0.027183426303945223,
+            "fingertip_max_gap": 0.0914358339671427,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013591713151972612,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.999348610706916,
+            "object_top_z": 1.0446590964350113,
+            "finger_top_clearance": 0.04531048572809526,
+            "fingertip_min_top_clearance": 0.013593145718428595,
+            "object_projection_between_fingers": 0.7991961553261601,
+            "object_to_finger_line_xy": 0.01088972470582623,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04821791698357135,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4128942057915135,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 173,
+            "max_stable_success_frames": 173,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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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+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.29341467256396825,
+              0.15524869862105306,
+              0.7565882490142162
+            ],
+            "target_position": [
+              0.30003412184740896,
+              0.15150811024368996,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0076032302493682065,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2123580060131659,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565882490142162,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755199855787353,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08953787953647345,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18355558638164424,
+            "release_required_pad_clearance": 0.05476893976823673,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.581783487769263,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 255,
+            "max_placed_release_frames": 255
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "43acad9c42cff438a82da43960811d273506b8b1919f60cc0a33abe0de788972",
+    "visual_seed": 3719329904924610443,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_25_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b6d1f96662472467abb1877bea59e54590192b7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_25_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.32479025843477455,
+              0.1569501640270703,
+              0.9984843168965991
+            ],
+            "current_z": 0.9984843168965991,
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+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.1418979286973231,
+            "gripper_z": 0.9986441090474505,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3197087877609852,
+              0.1521073496513382,
+              0.9986441090474505
+            ],
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+              0.004842814375732085,
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+            "object_to_gripper_xy": 0.007019558054919012,
+            "object_to_gripper_z": -0.00015979215085137888,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.32479025843477455,
+              0.13239262953662184,
+              0.9984843168965991
+            ],
+            "finger_b": [
+              0.3131130351885437,
+              0.1569501640270703,
+              0.9984843168965991
+            ],
+            "finger_midpoint": [
+              0.3189516468116591,
+              0.14467139678184607,
+              0.9984843168965991
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+              0.005838611623115442,
+              0.012278767245224226,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04816877218610709,
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+            "object_tilt_deg": 1.3424015095802406,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 173,
+            "max_stable_success_frames": 173,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.005468528394915088,
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+              -0.019446950136091032,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701465090059013,
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+            "gripper_z": 1.0256981009523243,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.2544483764547,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.8454108601237258,
+            "max_source_tilt_deg": 89.78366335622637,
+            "source_upright_tilt_deg": 2.2397544954074715,
+            "max_source_upright_tilt_deg": 89.88292357807568,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.8454108601237258,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 4.181887258426653e-08,
+            "max_target_xy_drift": 1.4505928361741854e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.347,
+                -0.0055,
+                0.7701
+              ],
+              "controller_target_position": [
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+                -0.0055,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
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+                "pour_pose_offset_m": [
+                  0.0015679411413801422,
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+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
+              "source_return_upright_error_deg": 2.2397320410750794,
+              "source_return_step_error_deg": 1.845395112704051,
+              "source_return_stable_frames": 5,
+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 2.2327067127723677,
+              "source_return_best_wrist_position": -1.6095713376998901,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6095713376998901
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.347,
+              -0.0055,
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.0007,
+              -0.0017
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+            "pour_controller_controller_last_pour_pose_position": [
+              0.3486,
+              -0.0316,
+              1.0339
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
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+              0.0645,
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+              0.3,
+              0.4
+            ],
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+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                0.0015679411413801422,
+                -0.0006652971540423533,
+                -0.0017499751634620143
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 2.2397320410750794,
+            "pour_controller_source_return_step_error_deg": 1.845395112704051,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.2327067127723677,
+            "pour_controller_source_return_best_wrist_position": -1.6095713376998901,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6095713376998901,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.01406179391255664,
+            "valid_pour_held_xy_dist": 0.011242713062617897,
+            "valid_pour_held_gripper_dist": 0.0070228535422729894,
+            "valid_pour_required_height": 0.8001465090059013,
+            "valid_pour_held_z": 1.025467564620514,
+            "valid_pour_source_tilt_deg": 1.8454108601237258,
+            "valid_pour_source_upright_tilt_deg": 2.2397544954074715,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 4.181887258426653e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.35361538379861207,
+              -0.03862902760157824,
+              1.025467564620514
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.34199848378854464,
+              -0.014579858454708203,
+              1.025467564620514
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.34780693379357835,
+              -0.026604443028143222,
+              1.025467564620514
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.35361538379861207,
+              -0.014579858454708203,
+              1.025467564620514
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.0267079557903384,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024364302503723456,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.028708672289391744,
+              -0.9992360476803984,
+              0.026516657999023696
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.006159409549459444,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03335157948935671,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35361538379861207,
+              -0.03862902760157824,
+              1.025467564620514
+            ],
+            "held_grasp_finger_b": [
+              0.34199848378854464,
+              -0.014579858454708203,
+              1.025467564620514
+            ],
+            "held_grasp_midpoint": [
+              0.34780693379357835,
+              -0.026604443028143222,
+              1.025467564620514
+            ],
+            "held_grasp_object_position": [
+              0.35361538379861207,
+              -0.014579858454708203,
+              1.025467564620514
+            ],
+            "held_grasp_finger_gap": 0.0267079557903384,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024364302503723456,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.028708672289391744,
+              -0.9992360476803984,
+              0.026516657999023696
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006159409549459444,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03335157948935671,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2899052350085596,
+              0.15899113998759296,
+              0.756586297512325
+            ],
+            "target_position": [
+              0.3005334521864578,
+              0.15447201078834713,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.011549092133152562,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20848972914220273,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756586297512325,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556899544457453,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08538749259993138,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18028740617047873,
+            "release_required_pad_clearance": 0.05269374629996569,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4423467802398252,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 254,
+            "max_placed_release_frames": 254
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5fd7af7a74e26cc35a08cc8499a69a451f1471caf79f16a061c1e7f95cadd477",
+    "visual_seed": 1337974219538541419,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_26_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c679476796c47aa92baeb5a9e5d86df11d0e7f5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_26_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3457963583815589,
+              -0.037383890422018964,
+              1.0276280730778848
+            ],
+            "held_grasp_finger_b": [
+              0.33401561395951357,
+              -0.013339383148220172,
+              1.0276280730778848
+            ],
+            "held_grasp_midpoint": [
+              0.33990598617053625,
+              -0.025361636785119566,
+              1.0276280730778848
+            ],
+            "held_grasp_object_position": [
+              0.3457963583815589,
+              -0.013339383148220172,
+              1.0276280730778848
+            ],
+            "held_grasp_finger_gap": 0.026775441530949882,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024299293151407362,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.02299406688663443,
+              -0.9993303523576949,
+              0.028462602562989825
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006174637121928972,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.033321465615321955,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.30555808679590063,
+              0.12421207380347991,
+              0.7565944123723678
+            ],
+            "target_position": [
+              0.3037287103780002,
+              0.14889548248370033,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.02475110668542218,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21867629556966256,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565944123723678,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566724466086479,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0870659916956074,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18318954617043615,
+            "release_required_pad_clearance": 0.0535329958478037,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.058111917317332,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 214,
+            "max_placed_release_frames": 214
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "10fb9d2843810b78d6bb9df2fb17f5ce79273f981ffc3a2a2949f802e382de4a",
+    "visual_seed": 2997861990391702708,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_27_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac25ad244f7e2e99355f6ac68da9042a0cba41a6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_27_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.32300678582698344,
+              0.15448004590043202,
+              0.9972072026402841
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+            "current_z": 0.9972072026402841,
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+            "gripper_z": 0.9978052248422735,
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+            "gripper_position": [
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+              0.14964980547505674,
+              0.9978052248422735
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+              0.004830240425375276,
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+            "object_to_gripper_z": -0.0005980222019894565,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.32300678582698344,
+              0.1298979264135534,
+              0.9972072026402841
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+              0.15448004590043202,
+              0.9972072026402841
+            ],
+            "finger_midpoint": [
+              0.3171842983062585,
+              0.1421889861569927,
+              0.9972072026402841
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+            "object_minus_finger_midpoint": [
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+              0.012291059743439303,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.010523869890005973,
+            "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": 1.5428049605015985,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 172,
+            "max_stable_success_frames": 172,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+            "release_finger_gap": 0.07536131981176229,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08539844975524312,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17724420618759487,
+            "release_required_pad_clearance": 0.05269922487762156,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4440711068677816,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 246,
+            "max_placed_release_frames": 246
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e17f436a66229df24e2e7fae1441ef53c5e264193bac27cdf3a7add6ea5e3266",
+    "visual_seed": 1220549496850520954,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_28_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b3894c49ce930f9d76658512ccdf6c2fa00aa82
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_28_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.15429440752834328,
+              0.9998696850123908
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+            "lift_margin": 0.1432832968131147,
+            "gripper_z": 1.0001732447773022,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.1494782105059016,
+              1.0001732447773022
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+              0.004816197022441682,
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+            "object_to_gripper_z": -0.00030355976491136527,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3291729445308415,
+              0.12972786887735016,
+              0.9998696850123908
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+            "finger_b": [
+              0.31755743450791757,
+              0.15429440752834328,
+              0.9998696850123908
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+            "finger_midpoint": [
+              0.32336518951937954,
+              0.14201113820284672,
+              0.9998696850123908
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+              0.01228326932549656,
+              0.0
+            ],
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04824823963548085,
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+              0.0,
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+            "stable_success_frames": 174,
+            "max_stable_success_frames": 174,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+          }
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
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+            "virtual_attach_allowed": false,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_upright_tilt_deg": 89.95874343115841,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.8733459407115078,
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+            "target_xy_drift": 6.469173357092459e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
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+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+              "controller_target_position": [
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+              "controller_target_minus_raw_target": [
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+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3412,
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+              -0.0
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.0011,
+              -0.0017
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+              1.0339
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
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+              0.064,
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+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
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+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0014287233729762695,
+                -0.001147894772476942,
+                -0.0016895902442907152
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 1.9251846853868424,
+            "pour_controller_source_return_step_error_deg": 1.8733208130560903,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.9163668270017644,
+            "pour_controller_source_return_best_wrist_position": -1.6100162267684937,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6100162267684937,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.014168819284566432,
+            "valid_pour_held_xy_dist": 0.011617608455989355,
+            "valid_pour_held_gripper_dist": 0.0070018047898001146,
+            "valid_pour_required_height": 0.8001463897966116,
+            "valid_pour_held_z": 1.0255902841202116,
+            "valid_pour_source_tilt_deg": 1.8733459407115078,
+            "valid_pour_source_upright_tilt_deg": 1.925211475781496,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.469173357092459e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3481785299598021,
+              -0.03859609928918682,
+              1.0255902841202116
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3368667947657327,
+              -0.014387539941897065,
+              1.0255902841202116
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3425226623627674,
+              -0.026491819615541944,
+              1.0255902841202116
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3481785299598021,
+              -0.014387539941897065,
+              1.0255902841202116
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026720959914868284,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02442415726643411,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.02026769056131539,
+              -0.9994355372707415,
+              0.0267923041124718
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005908853371760575,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03321740908121866,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3481785299598021,
+              -0.03859609928918682,
+              1.0255902841202116
+            ],
+            "held_grasp_finger_b": [
+              0.3368667947657327,
+              -0.014387539941897065,
+              1.0255902841202116
+            ],
+            "held_grasp_midpoint": [
+              0.3425226623627674,
+              -0.026491819615541944,
+              1.0255902841202116
+            ],
+            "held_grasp_object_position": [
+              0.3481785299598021,
+              -0.014387539941897065,
+              1.0255902841202116
+            ],
+            "held_grasp_finger_gap": 0.026720959914868284,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02442415726643411,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.02026769056131539,
+              -0.9994355372707415,
+              0.0267923041124718
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005908853371760575,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03321740908121866,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3041724833054337,
+              0.15916624273119617,
+              0.7565902961544061
+            ],
+            "target_position": [
+              0.3049800939945019,
+              0.1518122792680404,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.007398176372764259,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2155772956560651,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565902961544061,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561556922644276,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08666231016411861,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1868124600060539,
+            "release_required_pad_clearance": 0.05333115508205931,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6790684399865148,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 213,
+            "max_placed_release_frames": 213
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "78f925d31de1598c0668c132df8be91f369583ab65b891f20f5d4800e112f07e",
+    "visual_seed": 8842272352654753166,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_29_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b664ae304173228a88de18c79cf2adfe1eb505b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_29_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3288567767383773,
+              0.15336275457481677,
+              1.001398617242254
+            ],
+            "current_z": 1.001398617242254,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1448121694383332,
+            "gripper_z": 1.0011680877542244,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024496749011717542,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.03037829678673515,
+              -0.9990319938393574,
+              0.031815630902046865
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006022179448278432,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.033294847880262976,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.29648452117313173,
+              0.15476939397154754,
+              0.7565862811975079
+            ],
+            "target_position": [
+              0.30466262600734073,
+              0.1512967630813866,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.008884850250770276,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21087573892705339,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565862811975079,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529963593713436,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0860087608141221,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18253270756553874,
+            "release_required_pad_clearance": 0.053004380407061055,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.040787637667657,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "796be3b87be5c4fdb14ac931b76f0cc7e0a2ef042ba1f13f8a9a53ddd1954747",
+    "visual_seed": 1652270905209619143,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_2_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c155eda1936d3786f9e80281704e8ba296bf6d82
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_2_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.150382848736088,
+              0.9973819032781681
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+              0.14562095436735445,
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+              0.1258759590462168,
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+              0.9973819032781681
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+              0.1381294038911524,
+              0.9973819032781681
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+            "fingertip_z_max_dist": 0.1,
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+              1.0
+            ],
+            "stable_success_frames": 172,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
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+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.006559070808209404,
+              0.7701463897966117
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+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3f42711564f0979afd82c3e9d0ab0bcd08a8d35052bdb8d892a8d76244ee16ff",
+    "visual_seed": 3431012871191623994,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_30_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4130c203554b2b581ea34821c0455a0142d196c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_30_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+              0.15509704544768213,
+              0.9979458392109539
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+            "current_z": 0.9979458392109539,
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+            "lift_margin": 0.14135927219774358,
+            "gripper_z": 0.998486987730236,
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+            "gripper_position": [
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+              0.15014538273804218,
+              0.998486987730236
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+              0.0049516627096399535,
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+            "object_to_gripper_z": -0.0005411485192821086,
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+              0.3238040229445539,
+              0.13073990385886478,
+              0.9979458392109539
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+              0.15509704544768213,
+              0.9979458392109539
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+              0.14291847465327345,
+              0.9979458392109539
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+              0.012178570794408677,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 172,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+          }
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+        "target": "beaker_b",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "target_position": [
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+              -0.006180475143112167,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.79452762037162,
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+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_upright_reference_source": "scene_initial",
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
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+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+              0.2
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
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+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                0.0013861605455853065,
+                0.00047024087670201635,
+                -0.0019151774494382753
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 1.642489304475283,
+            "pour_controller_source_return_step_error_deg": 1.9880276367973284,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.9806731646678095,
+            "pour_controller_source_return_best_wrist_position": -1.6097662448883057,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6097662448883057,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.012704482869807989,
+            "valid_pour_held_xy_dist": 0.010388134492202234,
+            "valid_pour_held_gripper_dist": 0.00712255997121223,
+            "valid_pour_required_height": 0.8001463897966118,
+            "valid_pour_held_z": 1.0249548895170997,
+            "valid_pour_source_tilt_deg": 1.9880205139062048,
+            "valid_pour_source_upright_tilt_deg": 1.6424847954437543,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 4.085099734265601e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3474823541154459,
+              -0.03838048630605248,
+              1.0249548895170997
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.33624521831159465,
+              -0.014003370959837348,
+              1.0249548895170997
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3418637862135203,
+              -0.026191928632944915,
+              1.0249548895170997
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3474823541154459,
+              -0.014003370959837348,
+              1.0249548895170997
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026842447237107003,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024344776123545683,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.001986603903608523,
+              -0.9995891439707326,
+              0.028593647210320317
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005605198260835837,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03300551316618462,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3474823541154459,
+              -0.03838048630605248,
+              1.0249548895170997
+            ],
+            "held_grasp_finger_b": [
+              0.33624521831159465,
+              -0.014003370959837348,
+              1.0249548895170997
+            ],
+            "held_grasp_midpoint": [
+              0.3418637862135203,
+              -0.026191928632944915,
+              1.0249548895170997
+            ],
+            "held_grasp_object_position": [
+              0.3474823541154459,
+              -0.014003370959837348,
+              1.0249548895170997
+            ],
+            "held_grasp_finger_gap": 0.026842447237107003,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024344776123545683,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.001986603903608523,
+              -0.9995891439707326,
+              0.028593647210320317
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005605198260835837,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03300551316618462,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2916537849911682,
+              0.15496032920933264,
+              0.7565868097025814
+            ],
+            "target_position": [
+              0.29952457509190794,
+              0.1527796868803214,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.008167284602423176,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21123745417471831,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565868097025814,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526810304244402,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08829023723623584,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18277881056412756,
+            "release_required_pad_clearance": 0.054145118618117924,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.30370600490808,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "50e9919434640ca17aa9ad82eb0dea3e7d5217e75f5e7bbcafbced0820af5279",
+    "visual_seed": 1403845858250656131,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_31_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a42917aeeec5e4480b3d1b4b88291b75d4e3db46
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_31_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3274288149230208,
+              0.15397974823584762,
+              0.9989999054360998
+            ],
+            "current_z": 0.9989999054360998,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.1424133384228895,
+            "gripper_z": 0.9994134315858078,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32241494497296463,
+              0.14905743829964374,
+              0.9994134315858078
+            ],
+            "object_minus_gripper": [
+              0.005013869950056149,
+              0.004922309936203878,
+              -0.00041352614970791013
+            ],
+            "object_to_gripper_xy": 0.007026238466215581,
+            "object_to_gripper_z": -0.00041352614970791013,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3274288149230208,
+              0.1297217557095121,
+              0.9989999054360998
+            ],
+            "finger_b": [
+              0.3153156389338037,
+              0.15397974823584762,
+              0.9989999054360998
+            ],
+            "finger_midpoint": [
+              0.3213722269284123,
+              0.14185075197267988,
+              0.9989999054360998
+            ],
+            "object_minus_finger_midpoint": [
+              0.006056587994608509,
+              0.01212899626316774,
+              0.0
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+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.28878062773370294,
+              0.1518619302866928,
+              0.756586336298821
+            ],
+            "target_position": [
+              0.30322445374462587,
+              0.1525488562853515,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.014460151353338141,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20565880735775466,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756586336298821,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755782026912588,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08881760936063914,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17656745016035796,
+            "release_required_pad_clearance": 0.05440880468031957,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.842641915638075,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 250,
+            "max_placed_release_frames": 250
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "91ec40bcd788b7de0fd41720d681ef263eab3096b1c699635ad423c4a8acd8ae",
+    "visual_seed": 7038678213032572574,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_32_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c66fed9ebb4f6e80a7fd0db49174735f7ed2740
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_32_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+          "skill": "pick",
+          "target": "beaker_b",
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+              0.9981875645961393
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+              0.14368039665098006,
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+              0.0,
+              1.0
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+            "stable_success_frames": 173,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              ],
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+            },
+            "failed_keys": []
+          }
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+      },
+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.8001465090059013,
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+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5c80bed439ed5652a71a91589b0f4ec919a8eb148a0116a8014e75e0eb2f98b6",
+    "visual_seed": 3314458800615254750,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_33_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6987c80c99ddcd606b07d63604165df54ca68d7b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_33_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
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+          "metrics": {
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+              0.1504348279501412,
+              0.9979657309058259
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+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.14137922349726018,
+            "gripper_z": 0.9982226141999786,
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+            "gripper_position": [
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+              0.1456110816159947,
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+              0.004823746334146506,
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+            "object_to_gripper_z": -0.00025688329415274325,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.12623804529605887,
+              0.9979657309058259
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+            "finger_b": [
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+              0.9979657309058259
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+            "finger_midpoint": [
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+              0.13833643662310002,
+              0.9979657309058259
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+              0.012098391327041186,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_z_max_dist": 0.1,
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+              1.0
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+            "stable_success_frames": 172,
+            "max_stable_success_frames": 172,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+              ],
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+          }
+        },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.770146330191967
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+              -0.02399216496711945,
+              1.0278538944145592
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+              "controller_target_position": [
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+              "controller_target_minus_raw_target": [
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+                "approach_height_range_m": [
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+            "pour_controller_skill": "pour",
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+              0.2,
+              0.2
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+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
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+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+                0.4
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+              "approach_xy_threshold_m": 0.08,
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+                0.0008249995303643881
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+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.086170936654513,
+            "pour_controller_source_return_best_wrist_position": -1.609599232673645,
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+            "pour_controller_wrist_compensated_return_position": -1.609599232673645,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.012793281472938026,
+            "valid_pour_held_xy_dist": 0.00955151105140655,
+            "valid_pour_held_gripper_dist": 0.006848112065439959,
+            "valid_pour_required_height": 0.800146330191967,
+            "valid_pour_held_z": 1.027526765596821,
+            "valid_pour_source_tilt_deg": 2.092368096107165,
+            "valid_pour_source_upright_tilt_deg": 1.6383125290370837,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.582810374748815e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.35063241629309233,
+              -0.04367541551990768,
+              1.027526765596821
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.33972999306916174,
+              -0.01935134784520965,
+              1.027526765596821
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.345181204681127,
+              -0.03151338168255867,
+              1.027526765596821
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.35063241629309233,
+              -0.01935134784520965,
+              1.027526765596821
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02665563918567684,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024222528700144172,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.008401433321145702,
+              -0.9995912282052464,
+              0.027327502873066505
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005359195352025751,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03299736463398392,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35063241629309233,
+              -0.04367541551990768,
+              1.027526765596821
+            ],
+            "held_grasp_finger_b": [
+              0.33972999306916174,
+              -0.01935134784520965,
+              1.027526765596821
+            ],
+            "held_grasp_midpoint": [
+              0.345181204681127,
+              -0.03151338168255867,
+              1.027526765596821
+            ],
+            "held_grasp_object_position": [
+              0.35063241629309233,
+              -0.01935134784520965,
+              1.027526765596821
+            ],
+            "held_grasp_finger_gap": 0.02665563918567684,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024222528700144172,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.008401433321145702,
+              -0.9995912282052464,
+              0.027327502873066505
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005359195352025751,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03299736463398392,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3041838786061263,
+              0.14999386903342635,
+              0.756586312267028
+            ],
+            "target_position": [
+              0.3070168132659253,
+              0.14683375670927348,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.004244034482418033,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.212833347590871,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756586312267028,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555052495723995,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08952345117513215,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1837123250466381,
+            "release_required_pad_clearance": 0.054761725587566076,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.573234471492717,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 212,
+            "max_placed_release_frames": 212
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1d40ca648a5a80dcd0ec393625dee5f43e071d16cdaaf63bbe8443e0bdead8b4",
+    "visual_seed": 7052208537946812185,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_34_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..01e420cb1dd02626814dc02282833a2c8a411482
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_34_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3256484421433525,
+              0.15353587707162197,
+              0.9976158994232139
+            ],
+            "current_z": 0.9976158994232139,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.14102945161929314,
+            "gripper_z": 0.9981797872103374,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32018041875025216,
+              0.14847529150051436,
+              0.9981797872103374
+            ],
+            "object_minus_gripper": [
+              0.005468023393100319,
+              0.005060585571107612,
+              -0.0005638877871234627
+            ],
+            "object_to_gripper_xy": 0.007450423219522155,
+            "object_to_gripper_z": -0.0005638877871234627,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3256484421433525,
+              0.12910064018951353,
+              0.9976158994232139
+            ],
+            "finger_b": [
+              0.31314074656102103,
+              0.15353587707162197,
+              0.9976158994232139
+            ],
+            "finger_midpoint": [
+              0.31939459435218676,
+              0.14131825863056774,
+              0.9976158994232139
+            ],
+            "object_minus_finger_midpoint": [
+              0.006253847791165723,
+              0.012217618441054234,
+              0.0
+            ],
+            "finger_gap": 0.027450377962152474,
+            "fingertip_max_gap": 0.09323462886923647,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013725188981076249,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9976158994232139,
+            "object_top_z": 1.0431035273767555,
+            "finger_top_clearance": 0.045487627953541554,
+            "fingertip_min_top_clearance": 0.013646288386062466,
+            "object_projection_between_fingers": 0.7923853726806037,
+            "object_to_finger_line_xy": 0.011133854143099897,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04911731443461824,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2837536504887179,
+              0.15480771758573408,
+              0.7566001516522243
+            ],
+            "target_position": [
+              0.30105851366533026,
+              0.14875265641089822,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.018333631811299104,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20366125618308917,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7566001516522243,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584414547393284,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08949443675895143,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17600958948934733,
+            "release_required_pad_clearance": 0.054747218379475715,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.480716594224646,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 258,
+            "max_placed_release_frames": 258
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a1ea1755c724987211e55fa93d6e3d0ceb3a72cc58099fae98271fd6bf2ea2f7",
+    "visual_seed": 5200963598657652010,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_35_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..79f6ccc6ff4cc09b76bce252ab79e034fedc9663
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_35_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+              0.13782175701905358,
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+          "failed_keys": [],
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+          "failure_messages": {},
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+    {
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+      "skill": "pour",
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+      "reason": "executed",
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+        "checker": {
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+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+                "shoulder_pan_joint",
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+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "57dbc31e16f064b06ee572f1d39fd53f16ae3d2546617ff66f05a7fd91fa4295",
+    "visual_seed": 6436117309719822260,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_37_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb6cbe8766460d4ee0f574b26c9572c40b652d55
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_37_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
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+      "target": "beaker_b",
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+      "reason": "executed",
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+          "metrics": {
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+            "lift_margin": 0.14109134955918246,
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+            "gripper_position": [
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+              0.14323546187555003,
+              0.9982907527018341
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+              0.004839956736273299,
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+            "object_to_gripper_z": -0.0006128361294412965,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.12327741150495532,
+              0.9976779165723928
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+            "finger_b": [
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+              0.9976779165723928
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+              0.13567641505838932,
+              0.9976779165723928
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+              0.012399003553434013,
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+            ],
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+              1.0
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+            "stable_success_frames": 172,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "max_valid_pour_pose_frames": 219,
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+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "source_name": "beaker",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "pour_controller_source_pose_held_object": "beaker_b",
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+            "pour_controller_wrist_compensated_return_position": -1.610341191291809,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
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+            ],
+            "valid_pour_xy_dist": 0.014434842770735899,
+            "valid_pour_held_xy_dist": 0.011084988514867444,
+            "valid_pour_held_gripper_dist": 0.007210568029042129,
+            "valid_pour_required_height": 0.8001463301919668,
+            "valid_pour_held_z": 1.026106111381311,
+            "valid_pour_source_tilt_deg": 1.9172904048041801,
+            "valid_pour_source_upright_tilt_deg": 3.012728764623265,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 9.581766020172595e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.35343477235819293,
+              -0.03936426648274561,
+              1.026106111381311
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.34165046810662175,
+              -0.015291723229710598,
+              1.026106111381311
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.34754262023240734,
+              -0.027327994856228104,
+              1.026106111381311
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.35343477235819293,
+              -0.015291723229710598,
+              1.026106111381311
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026802185831809315,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02454438121635758,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.04286284736304749,
+              -0.998617891315325,
+              0.03041518470873028
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.006412883740585156,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.033433143192046794,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35343477235819293,
+              -0.03936426648274561,
+              1.026106111381311
+            ],
+            "held_grasp_finger_b": [
+              0.34165046810662175,
+              -0.015291723229710598,
+              1.026106111381311
+            ],
+            "held_grasp_midpoint": [
+              0.34754262023240734,
+              -0.027327994856228104,
+              1.026106111381311
+            ],
+            "held_grasp_object_position": [
+              0.35343477235819293,
+              -0.015291723229710598,
+              1.026106111381311
+            ],
+            "held_grasp_finger_gap": 0.026802185831809315,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02454438121635758,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.04286284736304749,
+              -0.998617891315325,
+              0.03041518470873028
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006412883740585156,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.033433143192046794,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.28701780619544454,
+              0.15066276347232122,
+              0.756587365030627
+            ],
+            "target_position": [
+              0.30098032965145005,
+              0.14663072809349084,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.014533044091161493,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20546591677873915,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756587365030627,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538944736999409,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08502820969885304,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1775728017597002,
+            "release_required_pad_clearance": 0.05251410484942652,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.09689860697445071,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 254,
+            "max_placed_release_frames": 254
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "91b4dcac249a0c2ad7e3411e022c86e0297b0814e3c5a30c345a9065f11ea70e",
+    "visual_seed": 2450492744492985149,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_38_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0821c81188bb7cff2d871f3072759126571f3258
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_38_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3232907530908194,
+              0.14826739865053828,
+              0.9995511557009076
+            ],
+            "current_z": 0.9995511557009076,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.1429646482923419,
+            "gripper_z": 0.9999968543914041,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.318323601527866,
+              0.14355216957642444,
+              0.9999968543914041
+            ],
+            "object_minus_gripper": [
+              0.004967151562953409,
+              0.004715229074113841,
+              -0.0004456986904964877
+            ],
+            "object_to_gripper_xy": 0.00684879404499208,
+            "object_to_gripper_z": -0.0004456986904964877,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3232907530908194,
+              0.1236813337954653,
+              0.9995511557009076
+            ],
+            "finger_b": [
+              0.31194403412909294,
+              0.14826739865053828,
+              0.9995511557009076
+            ],
+            "finger_midpoint": [
+              0.31761739360995617,
+              0.1359743662230018,
+              0.9995511557009076
+            ],
+            "object_minus_finger_midpoint": [
+              0.005673359480863227,
+              0.012293032427536488,
+              0.0
+            ],
+            "finger_gap": 0.02707808368873724,
+            "fingertip_max_gap": 0.09123852543998615,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013539041844368615,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9995511557009076,
+            "object_top_z": 1.0449335140351343,
+            "finger_top_clearance": 0.04538235833422677,
+            "fingertip_min_top_clearance": 0.013614707500268048,
+            "object_projection_between_fingers": 0.8244079924128295,
+            "object_to_finger_line_xy": 0.010302470865075585,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048119262719993075,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2657532102460856,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 174,
+            "max_stable_success_frames": 174,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+                },
+                {
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+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
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+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
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+              0.2992682888098875,
+              0.12475295088831784,
+              0.75658665879476
+            ],
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+              0.1468194310237171,
+              0.7730800627579277
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+            "gripper_dist": 0.2166599527026656,
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+            "gripper_away_ok": true,
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18152205731571633,
+            "release_required_pad_clearance": 0.05692245027844854,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 9.340940502672602,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 209,
+            "max_placed_release_frames": 209
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a98b6db938175968a687021e674d6f37f110623658f1635f04ab09f11eb602a4",
+    "visual_seed": 6732544293259468172,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_3_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..92695554be460cb8f0a3a69ebb3d7ea866e816c8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_3_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+    {
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+      "skill": "pour",
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+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "metrics": {
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
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+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
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+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "413f9dc233792d8d5508be2dd12797f15de9b479e43d671cada42105fdd5eb89",
+    "visual_seed": 5182195873350378834,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_40_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..de6ff844d541528321eeae33648d65e3898a5aa3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_40_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              0.9984011335615064
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+              0.14639035307331924,
+              0.9984011335615064
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+              0.0
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "valid_pour_grasp_window_ok": true,
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+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_metrics": {},
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+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.345551698864158,
+              -0.04274850925254408,
+              1.0284481185272256
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.33430677783227225,
+              -0.018648983932374442,
+              1.0284481185272256
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3399292383482151,
+              -0.03069874659245926,
+              1.0284481185272256
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.345551698864158,
+              -0.018648983932374442,
+              1.0284481185272256
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026593897226071316,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.0244069786646718,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.029302571278568577,
+              -0.9990849713733536,
+              0.03115412159521758
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005984759048561897,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03332624073353358,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.345551698864158,
+              -0.04274850925254408,
+              1.0284481185272256
+            ],
+            "held_grasp_finger_b": [
+              0.33430677783227225,
+              -0.018648983932374442,
+              1.0284481185272256
+            ],
+            "held_grasp_midpoint": [
+              0.3399292383482151,
+              -0.03069874659245926,
+              1.0284481185272256
+            ],
+            "held_grasp_object_position": [
+              0.345551698864158,
+              -0.018648983932374442,
+              1.0284481185272256
+            ],
+            "held_grasp_finger_gap": 0.026593897226071316,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0244069786646718,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.029302571278568577,
+              -0.9990849713733536,
+              0.03115412159521758
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005984759048561897,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03332624073353358,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.29637998756730405,
+              0.16642109603891156,
+              0.7565870111420397
+            ],
+            "target_position": [
+              0.30702218805645104,
+              0.1558108804422713,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.015027744549944577,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20821322431231631,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565870111420397,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527157084759296,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08591537027306743,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18188390352870804,
+            "release_required_pad_clearance": 0.05295768513653372,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9503787864721649,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 248,
+            "max_placed_release_frames": 248
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c45b566502a5d7d96ee64ce1aafbabb79797f2ac442e41b7b2a479d222b86522",
+    "visual_seed": 1252891376670061144,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_41_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0b474f92e71588045e2cf5b8ecccce7c66e9312
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_41_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3265706634665975,
+              0.1516766412196941,
+              1.0007707701916508
+            ],
+            "current_z": 1.0007707701916508,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14418426278308527,
+            "gripper_z": 1.0013316220244892,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3215870940353198,
+              0.1469187708728359,
+              1.0013316220244892
+            ],
+            "object_minus_gripper": [
+              0.004983569431277701,
+              0.004757870346858206,
+              -0.0005608518328383827
+            ],
+            "object_to_gripper_xy": 0.006890086684061252,
+            "object_to_gripper_z": -0.0005608518328383827,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3265706634665975,
+              0.12719303166764082,
+              1.0007707701916508
+            ],
+            "finger_b": [
+              0.31501234079921786,
+              0.1516766412196941,
+              1.0007707701916508
+            ],
+            "finger_midpoint": [
+              0.3207915021329077,
+              0.13943483644366744,
+              1.0007707701916508
+            ],
+            "object_minus_finger_midpoint": [
+              0.005779161333689831,
+              0.012241804776026655,
+              0.0
+            ],
+            "finger_gap": 0.027074747636509137,
+            "fingertip_max_gap": 0.09184350809928235,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013537373818254582,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0007707701916508,
+            "object_top_z": 1.0460929931070662,
+            "finger_top_clearance": 0.04532222291541532,
+            "fingertip_min_top_clearance": 0.01359666687462463,
+            "object_projection_between_fingers": 0.8177528296474508,
+            "object_to_finger_line_xy": 0.010452155014112561,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04842175404964118,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.831796882949847,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 175,
+            "max_stable_success_frames": 175,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3032742938022934,
+              0.15053691398905275,
+              0.7565864513180547
+            ],
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+              0.3024611436582248,
+              0.14678495653527412,
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+            "gripper_dist": 0.21617752513671157,
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9419197223712699,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7574f430198b3b6bcb54db772b023b5ee7190916415d588596f7153fd9cb1e4b",
+    "visual_seed": 6889654761063287685,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_42_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..329cbc2ac274a109c77fa06b1af6c04e44219f60
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_42_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "failure_messages": {},
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+    {
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+      "skill": "pour",
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+      "reason": "executed",
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+        "checker": {
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+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
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+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
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+              "source_name": "beaker",
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+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_43_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..978b1eed8305613a981f7a7c5dce65761b8f3c27
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_43_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+          "checker": "PickSuccessChecker",
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+              0.9991100935020417
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+              0.14916701881506317,
+              0.9991100935020417
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+              0.13697523347553076,
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+              0.012191785339532413,
+              0.0
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+              1.0
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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_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+              0.7701463897966118
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "source_name": "beaker",
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+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024286618044818555,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.0057330944725046875,
+              -0.9993313608553174,
+              0.03611042562514044
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005711597122688004,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03312141857217791,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35312424424147637,
+              -0.035822078819896144,
+              1.0283705286144016
+            ],
+            "held_grasp_finger_b": [
+              0.34187331700039253,
+              -0.01158375671289183,
+              1.0283705286144016
+            ],
+            "held_grasp_midpoint": [
+              0.3474987806209344,
+              -0.023702917766393987,
+              1.0283705286144016
+            ],
+            "held_grasp_object_position": [
+              0.35312424424147637,
+              -0.01158375671289183,
+              1.0283705286144016
+            ],
+            "held_grasp_finger_gap": 0.02672226828596436,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024286618044818555,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.0057330944725046875,
+              -0.9993313608553174,
+              0.03611042562514044
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005711597122688004,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03312141857217791,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.30182482976392166,
+              0.14812067938648277,
+              0.7565866916932505
+            ],
+            "target_position": [
+              0.3062214320757895,
+              0.14667400316983611,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.00462849694442296,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21394607452560097,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565866916932505,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585145793629045,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08696309522859529,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1838811448197358,
+            "release_required_pad_clearance": 0.053481547614297645,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9742977925016456,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 214,
+            "max_placed_release_frames": 214
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c3765e7ca72018c8f5ee6694f2bac4d7740bf75d0854015f6baf606c54682609",
+    "visual_seed": 6091710826095975704,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_44_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..14a05a8832e3fffb1c52a70b993265885f4573b6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_44_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3247007641561767,
+              0.1544740009569217,
+              0.999581784764189
+            ],
+            "current_z": 0.999581784764189,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14299527735562345,
+            "gripper_z": 0.9997961178789903,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3192590493657249,
+              0.14967450579095098,
+              0.9997961178789903
+            ],
+            "object_minus_gripper": [
+              0.0054417147904518015,
+              0.004799495165970724,
+              -0.00021433311480123507
+            ],
+            "object_to_gripper_xy": 0.0072558537546451585,
+            "object_to_gripper_z": -0.00021433311480123507,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3247007641561767,
+              0.12963440115863287,
+              0.999581784764189
+            ],
+            "finger_b": [
+              0.3131094945710293,
+              0.1544740009569217,
+              0.999581784764189
+            ],
+            "finger_midpoint": [
+              0.31890512936360305,
+              0.14205420105777727,
+              0.999581784764189
+            ],
+            "object_minus_finger_midpoint": [
+              0.005795634792573667,
+              0.012419799899144435,
+              0.0
+            ],
+            "finger_gap": 0.027411005978159833,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013705502989079917,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.999581784764189,
+            "object_top_z": 1.0450926909862865,
+            "finger_top_clearance": 0.045510906222097525,
+            "fingertip_min_top_clearance": 0.013653271866629258,
+            "object_projection_between_fingers": 0.8211816577110747,
+            "object_to_finger_line_xy": 0.010503901165777929,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04826288712254227,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0625151160799464,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 174,
+            "max_stable_success_frames": 174,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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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+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2872564920578671,
+              0.1568871920104037,
+              0.7565868343516083
+            ],
+            "target_position": [
+              0.3001440974028879,
+              0.1512873770403969,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.014051629771215901,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20853556091603612,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565868343516083,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755748862841432,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08747735288685952,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18062694066243587,
+            "release_required_pad_clearance": 0.053738676443429764,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.485075893456618,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 252,
+            "max_placed_release_frames": 252
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "384188826a912a18dee172593c98a9ce601721b3944ca10794a77d91b06fc8ab",
+    "visual_seed": 6483382766778521143,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_45_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5450e769850cc88dc42a87cf2b672f87dd9a1738
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_45_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.32418364935197597,
+              0.15065426874146215,
+              1.0011115148519907
+            ],
+            "current_z": 1.0011115148519907,
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+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.14452494783878023,
+            "gripper_z": 1.00107347335183,
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+            "gripper_position": [
+              0.3191494308066617,
+              0.1458994262074096,
+              1.00107347335183
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+              0.005034218545314273,
+              0.004754842534052561,
+              3.80415001606238e-05
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+            "object_to_gripper_xy": 0.006924729878170089,
+            "object_to_gripper_z": 3.80415001606238e-05,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.12610682040459653,
+              1.0011115148519907
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+            "finger_b": [
+              0.31266214638015544,
+              0.15065426874146215,
+              1.0011115148519907
+            ],
+            "finger_midpoint": [
+              0.3184228978660657,
+              0.13838054457302934,
+              1.0011115148519907
+            ],
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+              0.005760751485910265,
+              0.012273724168432809,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2384983359239485,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 176,
+            "max_stable_success_frames": 176,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              ],
+              "ignored": [],
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7701463897966115
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+            "gripper_position": [
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+              -0.019537949010884473,
+              1.026308219828579
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+            "held_minus_target": [
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+              0.004727540943308944,
+              -3.212790376427854e-05
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+            "gripper_z": 1.026308219828579,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.249277923253,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.8845253897816492,
+            "max_source_tilt_deg": 89.9678123888855,
+            "source_upright_tilt_deg": 1.8947895206135068,
+            "max_source_upright_tilt_deg": 89.80549349247335,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.8845253897816492,
+            "source_upright_return_tilt_deg": 1.8947895206135068,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.30385160446167e-08,
+            "max_target_xy_drift": 1.2338530392705795e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                -0.0081,
+                0.7701
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+              "controller_target_position": [
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+                -0.0081,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
+                0.0,
+                -0.0
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+              "lock_target_position": true,
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+              "pour_pose_offset": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
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+                ],
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+                "pour_pose_offset_m": [
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+                  0.0017750326967294516,
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+                "use_preinterpolated_cartesian_targets": false
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
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+              "source_return_step_error_deg": 1.884497367820517,
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+              "source_return_best_wrist_position": -1.6094695329666138,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6094695329666138
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3431,
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+            "pour_controller_controller_target_minus_raw_target": [
+              -0.0,
+              0.0,
+              -0.0
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.0013,
+              0.0018,
+              -0.0009
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+            "pour_controller_controller_last_pour_pose_position": [
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+              -0.0317,
+              1.0346
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
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+              0.0639,
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+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0013471896844696888,
+                0.0017750326967294516,
+                -0.0008910562732132243
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 1.894776673370588,
+            "pour_controller_source_return_step_error_deg": 1.884497367820517,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.88442739409461,
+            "pour_controller_source_return_best_wrist_position": -1.6094695329666138,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6094695329666138,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.011494592537029847,
+            "valid_pour_held_xy_dist": 0.009288596003424987,
+            "valid_pour_held_gripper_dist": 0.0069254045267074255,
+            "valid_pour_required_height": 0.8001463897966116,
+            "valid_pour_held_z": 1.0262760919248146,
+            "valid_pour_source_tilt_deg": 1.8845253897816492,
+            "valid_pour_source_upright_tilt_deg": 1.8947895206135068,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.30385160446167e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.34950837224042625,
+              -0.03902828749256306,
+              1.0262760919248146
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.33830625769278094,
+              -0.014810408067575529,
+              1.0262760919248146
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3439073149666036,
+              -0.026919347780069297,
+              1.0262760919248146
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.34950837224042625,
+              -0.014810408067575529,
+              1.0262760919248146
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02668319797516409,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024382633475708654,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.01588945970447853,
+              -0.9994532346636849,
+              0.02899580643122901
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005803307464530368,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.033186903775666216,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.34950837224042625,
+              -0.03902828749256306,
+              1.0262760919248146
+            ],
+            "held_grasp_finger_b": [
+              0.33830625769278094,
+              -0.014810408067575529,
+              1.0262760919248146
+            ],
+            "held_grasp_midpoint": [
+              0.3439073149666036,
+              -0.026919347780069297,
+              1.0262760919248146
+            ],
+            "held_grasp_object_position": [
+              0.34950837224042625,
+              -0.014810408067575529,
+              1.0262760919248146
+            ],
+            "held_grasp_finger_gap": 0.02668319797516409,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024382633475708654,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.01588945970447853,
+              -0.9994532346636849,
+              0.02899580643122901
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005803307464530368,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.033186903775666216,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2820619776319171,
+              0.1625572716213227,
+              0.7565863995881633
+            ],
+            "target_position": [
+              0.2999870684984744,
+              0.14697344584435262,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.023752147448626467,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2042250268787299,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863995881633,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07929757261963764,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08668026169300395,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17881579194635608,
+            "release_required_pad_clearance": 0.05334013084650198,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6962285183663492,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 213,
+            "max_placed_release_frames": 213
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "96eef5ebceff6c5d6fb74425a9900d712796a5d1482a033f2adcd9f7860cb803",
+    "visual_seed": 8553448953954874115,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_47_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d2d90bfc31dc9ff03a4f6cdfeb82fe453f6400a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_47_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3482514537684429,
+              -0.03904114854737917,
+              1.0273106950698585
+            ],
+            "held_grasp_finger_b": [
+              0.3368794221617964,
+              -0.014946024174349202,
+              1.0273106950698585
+            ],
+            "held_grasp_midpoint": [
+              0.3425654379651196,
+              -0.026993586360864186,
+              1.0273106950698585
+            ],
+            "held_grasp_object_position": [
+              0.3482514537684429,
+              -0.014946024174349202,
+              1.0273106950698585
+            ],
+            "held_grasp_finger_gap": 0.026643913402770808,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02428486497027998,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.017809081667723298,
+              -0.9994694012712799,
+              0.027271826718829995
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005908735067483352,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03326031792028149,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3069823211898229,
+              0.1533539010058417,
+              0.7565863591912558
+            ],
+            "target_position": [
+              0.30641382645442605,
+              0.15338816739445615,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0005695265134851825,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2160843051630178,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863591912558,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521093223099239,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08838840700676985,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18669876512867822,
+            "release_required_pad_clearance": 0.05419420350338493,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.404757492973704,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9080bbf8b49ba064b97118a66ec0337fdfa0a343d74dfdba9cc04c8456d97af3",
+    "visual_seed": 5180821032185794847,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_48_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a3830197854ad1ee625884bf0ea9c6c179b5470
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_48_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3273476255170683,
+              0.15387777172440764,
+              0.999954247980638
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+            "lift_margin": 0.14336774057207247,
+            "gripper_z": 1.0004193277985294,
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+            "gripper_position": [
+              0.3223476777186648,
+              0.14904427595541436,
+              1.0004193277985294
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+              0.004833495768993279,
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+            "object_to_gripper_z": -0.0004650798178913451,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3273476255170683,
+              0.1294525361033334,
+              0.999954247980638
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+            "finger_b": [
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+              0.999954247980638
+            ],
+            "finger_midpoint": [
+              0.32146925809376614,
+              0.14166515391387052,
+              0.999954247980638
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+              0.0058783674233021666,
+              0.012212617810537119,
+              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": 0.010593441797702666,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04839574208024268,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8034461132056965,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 174,
+            "max_stable_success_frames": 174,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
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+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570967342918918,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0857354877121037,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18435023499933684,
+            "release_required_pad_clearance": 0.05286774385605185,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7773241483597029,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 214,
+            "max_placed_release_frames": 214
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "794ca0edf88c5a4feb0617a81f3a0e7577f1ce428344bd7876f4c9cbe0b5e3a8",
+    "visual_seed": 8458878170988878127,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_49_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..04e266ea434414b4c50e6fadab42b3b229c71847
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_49_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.32296066837802884,
+              0.15734301329378078,
+              1.0008008312045502
+            ],
+            "current_z": 1.0008008312045502,
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+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.14421426419133987,
+            "gripper_z": 1.000849798345869,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3178667851487485,
+              0.15238949908831456,
+              1.000849798345869
+            ],
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+              0.005093883229280338,
+              0.00495351420546622,
+              -4.896714131885638e-05
+            ],
+            "object_to_gripper_xy": 0.007105276161930592,
+            "object_to_gripper_z": -4.896714131885638e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32296066837802884,
+              0.13306399207771225,
+              1.0008008312045502
+            ],
+            "finger_b": [
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+              0.15734301329378078,
+              1.0008008312045502
+            ],
+            "finger_midpoint": [
+              0.3168604650361319,
+              0.1452035026857465,
+              1.0008008312045502
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012139510608034282,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.010901416483964001,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04835809109587545,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 175,
+            "max_stable_success_frames": 175,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+          }
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.003472747424013837,
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+            "max_wrist_deg": 120.24387524361953,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.98069251796514,
+            "source_upright_tilt_deg": 1.755483569998419,
+            "max_source_upright_tilt_deg": 89.9905676792242,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.8732834264643765,
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+            "target_xy_drift": 1.1245720088481903e-07,
+            "max_target_xy_drift": 2.1865078514903953e-07,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.7701
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+              "controller_target_position": [
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+              "controller_target_minus_raw_target": [
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+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+              "wrist_compensated_return_position": -1.6099668741226196
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3446,
+              -0.0035,
+              0.7701
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+              -0.0,
+              -0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.0017,
+              -0.0018,
+              0.0001
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+            "pour_controller_controller_last_pour_pose_position": [
+              0.3462,
+              -0.0306,
+              1.0356
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.0663,
+              0.0632,
+              0.0931
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0016727958071039418,
+                -0.0017551708609790855,
+                7.501762946683904e-05
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 1.7554826595767117,
+            "pour_controller_source_return_step_error_deg": 1.8732934172245799,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.8677525446956038,
+            "pour_controller_source_return_best_wrist_position": -1.6099668741226196,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6099668741226196,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.014894903998271824,
+            "valid_pour_held_xy_dist": 0.012019693744477058,
+            "valid_pour_held_gripper_dist": 0.007105954950876412,
+            "valid_pour_required_height": 0.8001463897966116,
+            "valid_pour_held_z": 1.0272811461288105,
+            "valid_pour_source_tilt_deg": 1.8732834264643765,
+            "valid_pour_source_upright_tilt_deg": 1.755483569998419,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.1245720088481903e-07,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3512303153145701,
+              -0.037727554854563056,
+              1.0272811461288105
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3398125927004752,
+              -0.013477092908187483,
+              1.0272811461288105
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.34552145400752265,
+              -0.025602323881375268,
+              1.0272811461288105
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3512303153145701,
+              -0.013477092908187483,
+              1.0272811461288105
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026803904460078645,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024261088369253638,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.0019275167555291486,
+              -0.9995306716715024,
+              0.03057320832154231
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005744185882194589,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03309168863283261,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3512303153145701,
+              -0.037727554854563056,
+              1.0272811461288105
+            ],
+            "held_grasp_finger_b": [
+              0.3398125927004752,
+              -0.013477092908187483,
+              1.0272811461288105
+            ],
+            "held_grasp_midpoint": [
+              0.34552145400752265,
+              -0.025602323881375268,
+              1.0272811461288105
+            ],
+            "held_grasp_object_position": [
+              0.3512303153145701,
+              -0.013477092908187483,
+              1.0272811461288105
+            ],
+            "held_grasp_finger_gap": 0.026803904460078645,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024261088369253638,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.0019275167555291486,
+              -0.9995306716715024,
+              0.03057320832154231
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005744185882194589,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03309168863283261,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2872693631054251,
+              0.15530569443275427,
+              0.7565870420460561
+            ],
+            "target_position": [
+              0.29870895346293297,
+              0.15348491573474093,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.011583585913469363,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20665671986957948,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565870420460561,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519891856045617,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0885955564144008,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1783859350384127,
+            "release_required_pad_clearance": 0.0542977782072004,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.612905023672647,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 232,
+            "max_placed_release_frames": 232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dfe6791bad37df078ee25ec3564e81b7a87d20c209569da91c5a3e681df6f6f2",
+    "visual_seed": 9160385478844380586,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_4_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b71947d6e1ee8faa86e701bedb5124602357f79c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_4_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3293824639475604,
+              0.15725594990303912,
+              1.0007386115810115
+            ],
+            "current_z": 1.0007386115810115,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14415210417244595,
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+            "held_grasp_finger_gap": 0.0267655513527217,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024549432176793045,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.016062288736304487,
+              -0.9994546049596258,
+              0.028852998207295588
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005722710686050487,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.033102734845642905,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.28945295981771013,
+              0.15240402146428142,
+              0.7565868380646028
+            ],
+            "target_position": [
+              0.30517457043792495,
+              0.15477922910487646,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.015900020497772716,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.204523630687054,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565868380646028,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581750396857866,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08801616064730265,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1751784379759294,
+            "release_required_pad_clearance": 0.05400808032365133,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.026980077734833,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 247,
+            "max_placed_release_frames": 247
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6a7d9bf0b95bd266d88f338f8c6ff358038fa40d3822152401863563ee0e7064",
+    "visual_seed": 7924442779350417776,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_50_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b33b7274edf3478ff96f48ad336c12f917e77e80
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_50_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+              0.155067656097851,
+              1.0002758675787045
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+              0.15017398383003794,
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+              0.13067720539386915,
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+              0.155067656097851,
+              1.0002758675787045
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+              0.1428724307458601,
+              1.0002758675787045
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+              0.012195225351990913,
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+              1.0
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+            "stable_success_frames": 176,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.010087139115996584,
+              0.7701463897966117
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+              -0.02306692590780715,
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+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "29aca691703e993e6821bb80eb27157e8b606b72d16a494e3d9eb6805c356ff1",
+    "visual_seed": 5088189691349583286,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_51_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ad54ad8033e945bbf4d4784f91651f086f2a89c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_51_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3256743726978889,
+              0.15288225770596092,
+              0.9966160599531453
+            ],
+            "current_z": 0.9966160599531453,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14002955254457972,
+            "gripper_z": 0.9974882295082459,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3205021355303424,
+              0.1480480950892224,
+              0.9974882295082459
+            ],
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+              0.005172237167546501,
+              0.004834162616738524,
+              -0.0008721695551006103
+            ],
+            "object_to_gripper_xy": 0.007079630323853196,
+            "object_to_gripper_z": -0.0008721695551006103,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3256743726978889,
+              0.12827207989168551,
+              0.9966160599531453
+            ],
+            "finger_b": [
+              0.3139891818784889,
+              0.15288225770596092,
+              0.9966160599531453
+            ],
+            "finger_midpoint": [
+              0.3198317772881889,
+              0.1405771687988232,
+              0.9966160599531453
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012305088907137718,
+              0.0
+            ],
+            "finger_gap": 0.027243431071288425,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0418351723500863,
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+            "object_to_finger_line_xy": 0.01055574178988948,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048413028011117534,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.795514279565882,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 172,
+            "max_stable_success_frames": 172,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.006963305783785805,
+              0.7701463897966115
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+              -0.019423512213670335,
+              1.0269794398134082
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+              -0.014658387280307158,
+              1.026037599711618
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+            "held_minus_target": [
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+              -0.007695081496521353,
+              0.25589120991500647
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+              0.0047651249333631775,
+              -0.0009418401017902145
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+            "held_gripper_dist": 0.007133159726199386,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "gripper_z": 1.0269794398134082,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.25380633867273,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
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+            "source_start_tilt_deg": 1.9309927258826365,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.9204377010719154,
+            "max_source_tilt_deg": 89.92590513720026,
+            "source_upright_tilt_deg": 2.254842128094609,
+            "max_source_upright_tilt_deg": 89.963032506586,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.9204377010719154,
+            "source_upright_return_tilt_deg": 2.254842128094609,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.0102274521002302e-07,
+            "max_target_xy_drift": 1.8938851594302985e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                -0.007,
+                0.7701
+              ],
+              "controller_target_position": [
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+                -0.007,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0,
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                  0.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
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+                  0.2
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+                "use_preinterpolated_cartesian_targets": false
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+              "source_pose_held_object": "beaker_b",
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+              "wrist_compensated_return_position": -1.6095068454742432
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
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+            "pour_controller_lock_target_position": true,
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+            "pour_controller_pour_pose_offset": [
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+              -0.0001
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+            "pour_controller_controller_last_pour_pose_position": [
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+            "pour_controller_controller_event": 6,
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+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
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+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
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+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                0.0006881260519839114,
+                -6.974431762141989e-05
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+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 2.2548431978562697,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.2452440847665422,
+            "pour_controller_source_return_best_wrist_position": -1.6095068454742432,
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+            "pour_controller_wrist_compensated_return_position": -1.6095068454742432,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.0124858009338402,
+            "valid_pour_held_xy_dist": 0.008876544047266772,
+            "valid_pour_held_gripper_dist": 0.007133159726199386,
+            "valid_pour_required_height": 0.8001463897966116,
+            "valid_pour_held_z": 1.026037599711618,
+            "valid_pour_source_tilt_deg": 1.9204377010719154,
+            "valid_pour_source_upright_tilt_deg": 2.254842128094609,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.0102274521002302e-07,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.34863461981304245,
+              -0.03894524761511241,
+              1.026037599711618
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3373110097319286,
+              -0.014658387280307158,
+              1.026037599711618
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.34297281477248553,
+              -0.026801817447709785,
+              1.026037599711618
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.34863461981304245,
+              -0.014658387280307158,
+              1.026037599711618
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.0267969350895105,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02453163208073111,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.02327671968537829,
+              -0.9992257232306063,
+              0.03171984166039088
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0059552647722805494,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03319798542312983,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.34863461981304245,
+              -0.03894524761511241,
+              1.026037599711618
+            ],
+            "held_grasp_finger_b": [
+              0.3373110097319286,
+              -0.014658387280307158,
+              1.026037599711618
+            ],
+            "held_grasp_midpoint": [
+              0.34297281477248553,
+              -0.026801817447709785,
+              1.026037599711618
+            ],
+            "held_grasp_object_position": [
+              0.34863461981304245,
+              -0.014658387280307158,
+              1.026037599711618
+            ],
+            "held_grasp_finger_gap": 0.0267969350895105,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02453163208073111,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.02327671968537829,
+              -0.9992257232306063,
+              0.03171984166039088
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0059552647722805494,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03319798542312983,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.299231939107746,
+              0.15052421757407067,
+              0.7565865964014281
+            ],
+            "target_position": [
+              0.30133819064438405,
+              0.14990334039448502,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.00219585609904667,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21547125055975125,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865964014281,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528661031255782,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08545481994018365,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18615222066946563,
+            "release_required_pad_clearance": 0.05272740997009183,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.506675361009996,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6016f72f92f01c8e024a216b3689469af47730b1d77df2e12bfb8d251bf9b561",
+    "visual_seed": 7735201201427279826,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_52_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..87a87c8617eba332458e5224df45da0e0337d522
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_52_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.32630385900999576,
+              0.157340774034786,
+              1.0002712449535642
+            ],
+            "current_z": 1.0002712449535642,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.14368479714964344,
+            "gripper_z": 1.0007216536346744,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3211592080831315,
+              0.15237177609296537,
+              1.0007216536346744
+            ],
+            "object_minus_gripper": [
+              0.00514465092686428,
+              0.004968997941820624,
+              -0.000450408681110126
+            ],
+            "object_to_gripper_xy": 0.0071525082107679605,
+            "object_to_gripper_z": -0.000450408681110126,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32630385900999576,
+              0.13300431258840978,
+              1.0002712449535642
+            ],
+            "finger_b": [
+              0.3141098537878183,
+              0.157340774034786,
+              1.0002712449535642
+            ],
+            "finger_midpoint": [
+              0.320206856398907,
+              0.1451725433115979,
+              1.0002712449535642
+            ],
+            "object_minus_finger_midpoint": [
+              0.006097002611088753,
+              0.012168230723188095,
+              0.0
+            ],
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.29658185479329,
+              0.15337075194584748,
+              0.7565878606625215
+            ],
+            "target_position": [
+              0.30203599551474913,
+              0.153568498589117,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0054577243192014445,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21181837512347068,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565878606625215,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567297903644281,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08889434177569987,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18177081114613947,
+            "release_required_pad_clearance": 0.054447170887849936,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.916492776108235,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3a57f8af8da5397ea127448f3113fae588f895f3cde932c62f2808aaed6adf70",
+    "visual_seed": 1665567668039902416,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_53_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..233c4d1242d9a4943527327175649bbce0c60f9a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_53_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "failure_messages": {},
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+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "metrics": {
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+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a0793c1011199a3db831bf13b6b2d7d2a614b5ae181a3ec1a5b1b99dbcca44eb",
+    "visual_seed": 6292009662813783856,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_54_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..106e2f3f13a9b3270131afa7baa1b0f1c6aaaec7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_54_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "object_position": [
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+              0.15607121754433928,
+              0.9994594697238306
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+            "current_z": 0.9994594697238306,
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+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1428730219199098,
+            "gripper_z": 1.0000342602780001,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.3194364981871446,
+              0.15099779028767613,
+              1.0000342602780001
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+            "object_minus_gripper": [
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+              0.005073427256663154,
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+            "object_to_gripper_xy": 0.007403705627885559,
+            "object_to_gripper_z": -0.0005747905541695353,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3248286399597366,
+              0.1314744789158791,
+              0.9994594697238306
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+            "finger_b": [
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+              0.15607121754433928,
+              0.9994594697238306
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+            "finger_midpoint": [
+              0.31870806482567937,
+              0.1437728482301092,
+              0.9994594697238306
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+              0.006120575134057227,
+              0.01229836931423009,
+              0.0
+            ],
+            "finger_gap": 0.027474448330100164,
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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": 0.01095899615668164,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04817540938250427,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 174,
+            "max_stable_success_frames": 174,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.34774596607748914,
+              -0.006371842374421582,
+              0.7701464494012565
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+            "gripper_position": [
+              0.34872355949170275,
+              -0.020222197444898837,
+              1.0265172976642627
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+              0.013850355070477254,
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+              -0.015181132572012486,
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+            "held_minus_gripper": [
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+              0.005041064872886351,
+              -0.0006459531116871364
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+            "missing_held_position_samples": 0,
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+            "target_z": 0.7701464494012565,
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+            "gripper_z": 1.0265172976642627,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.25306184805319,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.8622543794676614,
+            "max_source_tilt_deg": 89.95133761595095,
+            "source_upright_tilt_deg": 1.9851628165034925,
+            "max_source_upright_tilt_deg": 89.69542557140552,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.8622543794676614,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.396774870396358e-08,
+            "max_target_xy_drift": 1.3038516044790172e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3477,
+                -0.0064,
+                0.7701
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+              "controller_target_position": [
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+                -0.0064,
+                0.7701
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+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_raw_target_position": [
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+            "pour_controller_lock_target_position": true,
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
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+            },
+            "pour_controller_source_pose_feedback": true,
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+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 1.9851648670171986,
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+            "pour_controller_source_return_stable_frames": 5,
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+            "pour_controller_source_return_best_error_deg": 1.9762021383880937,
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+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.609816074371338,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.013884812726926092,
+            "valid_pour_held_xy_dist": 0.01088514412266611,
+            "valid_pour_held_gripper_dist": 0.007427425866152653,
+            "valid_pour_required_height": 0.8001464494012566,
+            "valid_pour_held_z": 1.0258713445525756,
+            "valid_pour_source_tilt_deg": 1.8622543794676614,
+            "valid_pour_source_upright_tilt_deg": 1.9851628165034925,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.396774870396358e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3541399295420267,
+              -0.03938476185419812,
+              1.0258713445525756
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.34215274670327,
+              -0.015181132572012486,
+              1.0258713445525756
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3481463381226484,
+              -0.027282947213105303,
+              1.0258713445525756
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3541399295420267,
+              -0.015181132572012486,
+              1.0258713445525756
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027009409894317524,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024397671850542837,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.017399304405874078,
+              -0.9993998389805993,
+              0.02995373185003735
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.006213738505427465,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03320995768371975,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3541399295420267,
+              -0.03938476185419812,
+              1.0258713445525756
+            ],
+            "held_grasp_finger_b": [
+              0.34215274670327,
+              -0.015181132572012486,
+              1.0258713445525756
+            ],
+            "held_grasp_midpoint": [
+              0.3481463381226484,
+              -0.027282947213105303,
+              1.0258713445525756
+            ],
+            "held_grasp_object_position": [
+              0.3541399295420267,
+              -0.015181132572012486,
+              1.0258713445525756
+            ],
+            "held_grasp_finger_gap": 0.027009409894317524,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024397671850542837,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.017399304405874078,
+              -0.9993998389805993,
+              0.02995373185003735
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006213738505427465,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03320995768371975,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2958535282249975,
+              0.15036412921056358,
+              0.7565874658065057
+            ],
+            "target_position": [
+              0.30026380545385384,
+              0.15130902592301712,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.004510363071036996,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21004330110140132,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565874658065057,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572441886635502,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08853679616780578,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17975159209260425,
+            "release_required_pad_clearance": 0.054268398083902894,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.551057140982125,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 213,
+            "max_placed_release_frames": 213
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cfbca98bd6ba7cb31ee519286a7ec06ac46fa7c0cca0d610a271e4c1e8f9bc28",
+    "visual_seed": 3652106425222508793,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_55_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebe8be61f983b9316dc5adfb11bb5dd5eac1e362
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_55_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.32599630336758567,
+              0.15226987367996678,
+              0.9997102890703499
+            ],
+            "current_z": 0.9997102890703499,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.14312372205713952,
+            "gripper_z": 1.0002698903756648,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3209007709019065,
+              0.14744556322293662,
+              1.0002698903756648
+            ],
+            "object_minus_gripper": [
+              0.005095532465679176,
+              0.004824310457030162,
+              -0.0005596013053149607
+            ],
+            "object_to_gripper_xy": 0.007017009512221077,
+            "object_to_gripper_z": -0.0005596013053149607,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32599630336758567,
+              0.12774055489681324,
+              0.9997102890703499
+            ],
+            "finger_b": [
+              0.31429821070858444,
+              0.15226987367996678,
+              0.9997102890703499
+            ],
+            "finger_midpoint": [
+              0.32014725703808505,
+              0.14000521428839002,
+              0.9997102890703499
+            ],
+            "object_minus_finger_midpoint": [
+              0.005849046329500618,
+              0.012264659391576754,
+              0.0
+            ],
+            "finger_gap": 0.027175960918137697,
+            "fingertip_max_gap": 0.09176260115447152,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013587980459068836,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9997102890703499,
+            "object_top_z": 1.04499504069699,
+            "finger_top_clearance": 0.04528475162664003,
+            "fingertip_min_top_clearance": 0.013585425487992008,
+            "object_projection_between_fingers": 0.8147064527724449,
+            "object_to_finger_line_xy": 0.010558826046735897,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04838130057723576,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7843797362106242,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.29740939336401884,
+              0.1547377307052486,
+              0.7565862681679336
+            ],
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+              0.148146827334388,
+              0.7730800627579277
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21091164727282946,
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+            "object_z": 0.7565862681679336,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08689235954914153,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18221062314760725,
+            "release_required_pad_clearance": 0.053446179774570765,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9061200739487794,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 212,
+            "max_placed_release_frames": 212
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5b71a4887da721b3aaa504749928ae7190986810ddcc2b61b61ef669a6d313a9",
+    "visual_seed": 3216292505463488751,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_57_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1b2a452555baaba1104c52e83f9895df46d4b4d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_57_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "failure_messages": {},
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+              "allowed_object_paths": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "metrics": {
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+                "gripper",
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+                "panda_leftfingertip",
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+                "ur5e",
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+                "wrist",
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+                "wrist_2_joint",
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "73c103f6ad53cbaebbbdc3e557a4470f4aff5d6462c4b99fade34d62d7688c91",
+    "visual_seed": 8111024035100935611,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_58_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcf3ddd0edfcbebbfaf74bc863c6967e2b87d1d9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_58_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
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+              1.0003594030960063
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+              0.12523494923320022,
+              1.0003594030960063
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+              1.0003594030960063
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+              0.1375200912070249,
+              1.0003594030960063
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+              0.012285141973824687,
+              0.0
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+            "stable_success_frames": 174,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "source_name": "beaker",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_required_height": 0.8001464494012563,
+            "valid_pour_held_z": 1.0276567212261478,
+            "valid_pour_source_tilt_deg": 1.933974305790365,
+            "valid_pour_source_upright_tilt_deg": 2.1805432719462865,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 8.242204785346985e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3519208100044831,
+              -0.03825031852038166,
+              1.0276567212261478
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3406338133368236,
+              -0.013969930079797546,
+              1.0276567212261478
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.34627731167065334,
+              -0.026110124300089604,
+              1.0276567212261478
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3519208100044831,
+              -0.013969930079797546,
+              1.0276567212261478
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026775614962151813,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02449306548714805,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.02040032474002893,
+              -0.9992759032319863,
+              0.03211691097224555
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005902756981857529,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03318395061959663,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3519208100044831,
+              -0.03825031852038166,
+              1.0276567212261478
+            ],
+            "held_grasp_finger_b": [
+              0.3406338133368236,
+              -0.013969930079797546,
+              1.0276567212261478
+            ],
+            "held_grasp_midpoint": [
+              0.34627731167065334,
+              -0.026110124300089604,
+              1.0276567212261478
+            ],
+            "held_grasp_object_position": [
+              0.3519208100044831,
+              -0.013969930079797546,
+              1.0276567212261478
+            ],
+            "held_grasp_finger_gap": 0.026775614962151813,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02449306548714805,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.02040032474002893,
+              -0.9992759032319863,
+              0.03211691097224555
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005902756981857529,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03318395061959663,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.28728861936520467,
+              0.15042700871101183,
+              0.7565868935265669
+            ],
+            "target_position": [
+              0.29975428752087574,
+              0.14816478759513751,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.012669274917864064,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20763047726392078,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565868935265669,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580676008726255,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08688590746311346,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17875583050392893,
+            "release_required_pad_clearance": 0.05344295373155673,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8962379086544698,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 247,
+            "max_placed_release_frames": 247
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2b4c625b00d4edb70e968e4c271e02d8f91089635fa0802cec8d87ba9d9591d4",
+    "visual_seed": 3503086261589278717,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_59_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b44858a752664432ad6464bedc0091fbc997cc64
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_59_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3272820657362926,
+              0.1554384842076024,
+              0.999710167928993
+            ],
+            "current_z": 0.999710167928993,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.1431236009157827,
+            "gripper_z": 1.000174727375878,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32209865174976526,
+              0.150650056030561,
+              1.000174727375878
+            ],
+            "object_minus_gripper": [
+              0.00518341398652733,
+              0.004788428177041393,
+              -0.00046455944688506
+            ],
+            "object_to_gripper_xy": 0.007056686542734564,
+            "object_to_gripper_z": -0.00046455944688506,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3272820657362926,
+              0.13073422524385972,
+              0.999710167928993
+            ],
+            "finger_b": [
+              0.3157820747563162,
+              0.1554384842076024,
+              0.999710167928993
+            ],
+            "finger_midpoint": [
+              0.32153207024630437,
+              0.14308635472573106,
+              0.999710167928993
+            ],
+            "object_minus_finger_midpoint": [
+              0.005749995489988224,
+              0.012352129481871338,
+              0.0
+            ],
+            "finger_gap": 0.027249774374977838,
+            "fingertip_max_gap": 0.0914870244772327,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01362488718748893,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.999710167928993,
+            "object_top_z": 1.0450842431708507,
+            "finger_top_clearance": 0.04537407524185766,
+            "fingertip_min_top_clearance": 0.013612222572557314,
+            "object_projection_between_fingers": 0.821897843514875,
+            "object_to_finger_line_xy": 0.010425728717626207,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04824351223861635,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.33169657233377,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 174,
+            "max_stable_success_frames": 174,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
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+                "robotiq_2f85",
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+                "shoulder_pan_joint",
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
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+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.29795527515036985,
+              0.14455421063993618,
+              0.7565865354434456
+            ],
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+              0.30300263205601097,
+              0.15189961858363665,
+              0.7730800627579277
+            ],
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21249038212972443,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08639025663795417,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18131301532532842,
+            "release_required_pad_clearance": 0.05319512831897709,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4127506402493695,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0c74664f655b340cb6650d2a7e899218cf01e22731ce18d9c0d57b4a55b7c6e1",
+    "visual_seed": 7503702110202925977,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_5_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..498d27df3b3e5551db4a2e74fb3a0728a270ea97
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_5_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "skill": "pick",
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+              0.14131833491165355,
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+            "stable_success_frames": 175,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+                },
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+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.81235325154995,
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+            "max_source_upright_tilt_deg": 89.70899671877748,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 4.6267145679795076e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
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+                "gripper",
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+                "panda_rightfinger",
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+                "wrist_2_joint",
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+  "reproducibility": {
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+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4c9c5523204da1b5f4796624d74f98df31c799a6ef323b0dcca0ceedfdccdaea",
+    "visual_seed": 2921603279361125182,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_61_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..09d7fe3a52fc5c4cef448abbcac18470ed84b3ef
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_61_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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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",
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+                "defaultgroundplane",
+                "desk",
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+                "table",
+                "wheel",
+                "workbench"
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+    {
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+      "skill": "pour",
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+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.34936763513754415,
+              -0.04061282905213681,
+              1.025220940126937
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.33817514048877817,
+              -0.016349990629638957,
+              1.025220940126937
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3437713878131612,
+              -0.028481409840887886,
+              1.025220940126937
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.34936763513754415,
+              -0.016349990629638957,
+              1.025220940126937
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026719978757081625,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024298857386679525,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.00408108114133057,
+              -0.9996019214864451,
+              0.027916721464469434
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005655839701769354,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03309647375130653,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.34936763513754415,
+              -0.04061282905213681,
+              1.025220940126937
+            ],
+            "held_grasp_finger_b": [
+              0.33817514048877817,
+              -0.016349990629638957,
+              1.025220940126937
+            ],
+            "held_grasp_midpoint": [
+              0.3437713878131612,
+              -0.028481409840887886,
+              1.025220940126937
+            ],
+            "held_grasp_object_position": [
+              0.34936763513754415,
+              -0.016349990629638957,
+              1.025220940126937
+            ],
+            "held_grasp_finger_gap": 0.026719978757081625,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024298857386679525,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.00408108114133057,
+              -0.9996019214864451,
+              0.027916721464469434
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005655839701769354,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03309647375130653,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2974827911334494,
+              0.15954047015742537,
+              0.7565865047164221
+            ],
+            "target_position": [
+              0.29737492449568736,
+              0.15398964050204006,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.005551877617045162,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2146822618909427,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865047164221,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568969759677281,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0908450693851978,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18551574344459085,
+            "release_required_pad_clearance": 0.055422534692598904,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.975730045388512,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f563f35b51ca71f11e63ef3187409432e312d9c8040939df922a940f96f03b21",
+    "visual_seed": 5661590127838101727,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_63_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..21fa2b8dc9d084bb0ba42dc58784f7fd8a58fd3a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_63_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.33091610069571015,
+              0.15498098448792635,
+              0.9980623432308003
+            ],
+            "current_z": 0.9980623432308003,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14147583582223477,
+            "gripper_z": 0.9983396910283242,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32602256922357037,
+              0.1501704399857714,
+              0.9983396910283242
+            ],
+            "object_minus_gripper": [
+              0.004893531472139778,
+              0.0048105445021549564,
+              -0.0002773477975238636
+            ],
+            "object_to_gripper_xy": 0.006862068833525046,
+            "object_to_gripper_z": -0.0002773477975238636,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33091610069571015,
+              0.13073315645376615,
+              0.9980623432308003
+            ],
+            "finger_b": [
+              0.3190571125015185,
+              0.15498098448792635,
+              0.9980623432308003
+            ],
+            "finger_midpoint": [
+              0.32498660659861434,
+              0.14285707047084625,
+              0.9980623432308003
+            ],
+            "object_minus_finger_midpoint": [
+              0.005929494097095811,
+              0.0121239140170801,
+              0.0
+            ],
+            "finger_gap": 0.026992457564367526,
+            "fingertip_max_gap": 0.09173208910189326,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013496228782183763,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9980623432308003,
+            "object_top_z": 1.0433676469588378,
+            "finger_top_clearance": 0.04530530372803743,
+            "fingertip_min_top_clearance": 0.013591591118411227,
+            "object_projection_between_fingers": 0.80697639658873,
+            "object_to_finger_line_xy": 0.010653150262667907,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04836604455094663,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6971453049192964,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 173,
+            "max_stable_success_frames": 173,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3043050964984876,
+              0.14659629943538507,
+              0.7565872325740579
+            ],
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+              0.7730800627579277
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_min_pad_clearance": 0.1832279029412555,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7799888947234124,
+            "object_max_tilt_deg": 12.0,
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+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 212,
+            "max_placed_release_frames": 212
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8e24314cef2773a075ab912e37a61e527db715b83b29cda8e5e528c43ef2f552",
+    "visual_seed": 3134731118920164172,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_64_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..493acf10d3ccbbb7a33f8b7eede8904c6b375f15
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_64_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_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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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "metrics": {
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+            "missing_end_effector_orientation_samples": 0,
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+            "missing_target_orientation_samples": 0,
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+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_65_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..04d2557588b118dc1b4ebd7acb93eacd1a6f88c6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_65_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
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+          "metrics": {
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+              0.9974094868358183
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+              0.15176885471898519,
+              0.9980069294011794
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+              0.0050266168657749355,
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+            "object_to_gripper_z": -0.0005974425653610949,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.13234958653824344,
+              0.9974094868358183
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+            "finger_b": [
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+              0.15679547158476012,
+              0.9974094868358183
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+              0.14457252906150178,
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+              0.01222294252325834,
+              0.0
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 172,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
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+          }
+        },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+              0.7701464494012566
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+              -0.023410521585756877,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02427742368065981,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.00021983421414490002,
+              -0.9996276970147959,
+              0.0272840435752083
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005828544795030347,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03306407043686255,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.34785729227098927,
+              -0.04278124508462741,
+              1.0255230677238967
+            ],
+            "held_grasp_finger_b": [
+              0.33622438339177746,
+              -0.018497337744154005,
+              1.0255230677238967
+            ],
+            "held_grasp_midpoint": [
+              0.3420408378313834,
+              -0.03063929141439071,
+              1.0255230677238967
+            ],
+            "held_grasp_object_position": [
+              0.34785729227098927,
+              -0.018497337744154005,
+              1.0255230677238967
+            ],
+            "held_grasp_finger_gap": 0.02692643171147531,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02427742368065981,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.00021983421414490002,
+              -0.9996276970147959,
+              0.0272840435752083
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005828544795030347,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03306407043686255,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.28532183611072504,
+              0.1628541324834147,
+              0.7565870892256007
+            ],
+            "target_position": [
+              0.2980473234308503,
+              0.15503300742458934,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.014936801020314036,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20671125622096637,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565870892256007,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753414625426399,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08513961255444218,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17959665603163472,
+            "release_required_pad_clearance": 0.05256980627722109,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.20558414042655293,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 259,
+            "max_placed_release_frames": 259
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "de003040008e9b20df9b5ea591053bfbd507eef03b1bbad1cc7a8cb79b5c93bd",
+    "visual_seed": 5782887246489929817,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_66_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab78eba8ab2886496b989e49a17588b821e69462
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_66_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.33078958201487296,
+              0.1518264866119242,
+              0.9988603874170982
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+            "gripper_position": [
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+              0.14695919546765207,
+              0.9985507512425333
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+              0.004867291144272118,
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+            "object_to_gripper_z": 0.0003096361745648091,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.33078958201487296,
+              0.1274930188706107,
+              0.9988603874170982
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+              0.1518264866119242,
+              0.9988603874170982
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+            "finger_midpoint": [
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+              0.13965975274126746,
+              0.9988603874170982
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+            "object_minus_finger_midpoint": [
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+              0.012166733870656726,
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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": 0.010706301991048113,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 174,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3064038937390349,
+              0.1531847144959494,
+              0.7565863319229674
+            ],
+            "target_position": [
+              0.30660659163627846,
+              0.14891743970283566,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.004272086211383235,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2151481016162541,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863319229674,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587768151548065,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08859639604518658,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18541835920838362,
+            "release_required_pad_clearance": 0.054298198022593294,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.617019982712392,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 212,
+            "max_placed_release_frames": 212
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3322b009b8028a41f151f7fc4fcd53e5bce832d27f46b8c4401ce59be0079828",
+    "visual_seed": 7815604772744051697,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_67_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..24af8af44df41031b8f1d392dc0246c4d6bcd1c9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_67_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3307136659882875,
+              0.15232532056579481,
+              1.0005284502272482
+            ],
+            "current_z": 1.0005284502272482,
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+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.1439418832140379,
+            "gripper_z": 1.0008548112093043,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3256622841111687,
+              0.14764698112979535,
+              1.0008548112093043
+            ],
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+              0.004678339435999462,
+              -0.0003263609820560731
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+            "object_to_gripper_xy": 0.006885006808051238,
+            "object_to_gripper_z": -0.0003263609820560731,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3307136659882875,
+              0.1276423272045107,
+              1.0005284502272482
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+            "finger_b": [
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+              0.15232532056579481,
+              1.0005284502272482
+            ],
+            "finger_midpoint": [
+              0.32509260942183194,
+              0.13998382388515276,
+              1.0005284502272482
+            ],
+            "object_minus_finger_midpoint": [
+              0.005621056566455562,
+              0.01234149668064205,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048308059795180894,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6360968087708154,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 175,
+            "max_stable_success_frames": 175,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7701464494012565
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+              -0.025158299821012503,
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+            "held_minus_gripper": [
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+              0.004705118347920506,
+              -0.000397420796018233
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+            "max_held_gripper_dist": 0.0068959506469030004,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701464494012565,
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+            "gripper_z": 1.028419362407773,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.25623788601725,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              1.0
+            ],
+            "source_start_tilt_deg": 2.4299510418470254,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.9386994870729124,
+            "max_source_tilt_deg": 89.9712043772384,
+            "source_upright_tilt_deg": 2.7301622367475056,
+            "max_source_upright_tilt_deg": 89.97031282379437,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.9386994870729124,
+            "source_upright_return_tilt_deg": 2.7301622367475056,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.781903629050954e-08,
+            "max_target_xy_drift": 1.30385160446167e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3433,
+                -0.0112,
+                0.7701
+              ],
+              "controller_target_position": [
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+                -0.0112,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                -0.0008,
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_2": [
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+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
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+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
+              "source_return_upright_error_deg": 2.7301676022751256,
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+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 2.7236831841302394,
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+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6108256578445435
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3433,
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+            ],
+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+              0.0,
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+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.0008,
+              0.0013
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+            "pour_controller_controller_last_pour_pose_position": [
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+              -0.0374,
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.0685,
+              0.0653,
+              0.0932
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+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                -0.0008473876128582169,
+                0.0012967072898378514
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 2.7301676022751256,
+            "pour_controller_source_return_step_error_deg": 1.9386914582349692,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.7236831841302394,
+            "pour_controller_source_return_best_wrist_position": -1.6108256578445435,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6108256578445435,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.01399050150991138,
+            "valid_pour_held_xy_dist": 0.010718220911680976,
+            "valid_pour_held_gripper_dist": 0.0068930969820503,
+            "valid_pour_required_height": 0.8001464494012566,
+            "valid_pour_held_z": 1.0280219416117549,
+            "valid_pour_source_tilt_deg": 1.9386994870729124,
+            "valid_pour_source_upright_tilt_deg": 2.7301622367475056,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.781903629050954e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.34862494369132263,
+              -0.044575259986451954,
+              1.0280219416117549
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.33740821176102026,
+              -0.020453181473091997,
+              1.0280219416117549
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.34301657772617145,
+              -0.032514220729771975,
+              1.0280219416117549
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.34862494369132263,
+              -0.020453181473091997,
+              1.0280219416117549
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026602438741607257,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024496776455491316,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.0358462510177784,
+              -0.9988649466410523,
+              0.031366616963554035
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.00604874910409137,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.033353914526437864,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.34862494369132263,
+              -0.044575259986451954,
+              1.0280219416117549
+            ],
+            "held_grasp_finger_b": [
+              0.33740821176102026,
+              -0.020453181473091997,
+              1.0280219416117549
+            ],
+            "held_grasp_midpoint": [
+              0.34301657772617145,
+              -0.032514220729771975,
+              1.0280219416117549
+            ],
+            "held_grasp_object_position": [
+              0.34862494369132263,
+              -0.020453181473091997,
+              1.0280219416117549
+            ],
+            "held_grasp_finger_gap": 0.026602438741607257,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024496776455491316,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.0358462510177784,
+              -0.9988649466410523,
+              0.031366616963554035
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00604874910409137,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.033353914526437864,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.30180308070379946,
+              0.15582352209654943,
+              0.7565865391666143
+            ],
+            "target_position": [
+              0.3066121943488252,
+              0.14945466188146622,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.007980598629804807,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21057634128695832,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865391666143,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552735697174216,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08906212800770207,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18239611823337362,
+            "release_required_pad_clearance": 0.054531064003851035,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.095114689021354,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 212,
+            "max_placed_release_frames": 212
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "323b3c9c11210577225eddd5b1dcdf2a2ec9101d70c83922ee24666825a604cf",
+    "visual_seed": 2792558207474782347,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_68_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..31030a8b5cf5ad1b3c0052a9567ee2492410656e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_68_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.34603958406302066,
+              -0.036521064225403174,
+              1.0269995441274986
+            ],
+            "held_grasp_finger_b": [
+              0.3346139101571849,
+              -0.012273872304898112,
+              1.0269995441274986
+            ],
+            "held_grasp_midpoint": [
+              0.3403267471101028,
+              -0.024397468265150643,
+              1.0269995441274986
+            ],
+            "held_grasp_object_position": [
+              0.34603958406302066,
+              -0.012273872304898112,
+              1.0269995441274986
+            ],
+            "held_grasp_finger_gap": 0.02680433435532959,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02432718353531256,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.00793414888681089,
+              -0.9995603044208786,
+              0.028570038632853345
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005819126611426901,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.033127286196055546,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3003808146448123,
+              0.15005799657780566,
+              0.7565864943647074
+            ],
+            "target_position": [
+              0.3024137443406522,
+              0.1482358854427404,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0027299985598451325,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21186421385205417,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864943647074,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553176052421268,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0867603538052407,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18237777207066316,
+            "release_required_pad_clearance": 0.053380176902620355,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7755861510517512,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 213,
+            "max_placed_release_frames": 213
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c08b6b1a0bf4788874bf1953dcef904da2e21e00c786a3b0f0205af45c011da9",
+    "visual_seed": 223127606539529630,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_69_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..59d5dab6a8704812ff3077aa27fc9697783aa962
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_69_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.32401235990514965,
+              0.15093054678274703,
+              0.9968101917766243
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+            "gripper_z": 0.9976716825436593,
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+            "gripper_position": [
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+              0.14620567020131786,
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+              0.32401235990514965,
+              0.12617080382974874,
+              0.9968101917766243
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+            "finger_b": [
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+              0.15093054678274703,
+              0.9968101917766243
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+            "finger_midpoint": [
+              0.3183717850414602,
+              0.13855067530624787,
+              0.9968101917766243
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+              0.005640574863689463,
+              0.01237987147649916,
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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": 0.010265802831290225,
+            "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": 171,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08894026918765867,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18475855246354134,
+            "release_required_pad_clearance": 0.054470134593829336,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.969701553885362,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "73883bf482aa8d61a8bfa44234f48ec7edae4a9e19aa5e54e6df9e000c7fa58d",
+    "visual_seed": 2391841946158815997,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_6_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c371b25690b29befb9f04b733d9efad9c28bc06
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_6_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3265136953344443,
+              0.15931932716293495,
+              0.9981682104487022
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+            "current_z": 0.9981682104487022,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.14158182224942617,
+            "gripper_z": 0.9994037145328056,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.15441896088214732,
+              0.9994037145328056
+            ],
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+              0.005314461125200287,
+              0.0049003662807876325,
+              -0.0012355040841034448
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+            "object_to_gripper_xy": 0.007228906330638509,
+            "object_to_gripper_z": -0.0012355040841034448,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3265136953344443,
+              0.13453159836047135,
+              0.9981682104487022
+            ],
+            "finger_b": [
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+              0.15931932716293495,
+              0.9981682104487022
+            ],
+            "finger_midpoint": [
+              0.32067851502977524,
+              0.14692546276170315,
+              0.9981682104487022
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012393864401231802,
+              0.0
+            ],
+            "finger_gap": 0.027397606025645282,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.010558650034621558,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048125441511309694,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 173,
+            "max_stable_success_frames": 173,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.007220697266377426,
+              0.7701463897966115
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+            "gripper_position": [
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+              -0.021264142823867474,
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+              0.004817868008702396,
+              -0.001305183459885173
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+            "held_gripper_dist": 0.007334334327583237,
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+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966115,
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+            "required_height": 0.8001463897966116,
+            "gripper_z": 1.0287203016971396,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.24800750806739,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
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+            "source_start_tilt_deg": 1.7194835328316895,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.0527647605165944,
+            "max_source_tilt_deg": 89.85025775876728,
+            "source_upright_tilt_deg": 1.7279487133050924,
+            "max_source_upright_tilt_deg": 89.76595820295162,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.0527647605165944,
+            "source_upright_return_tilt_deg": 1.7279487133050924,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 2.1886080508667916e-08,
+            "max_target_xy_drift": 1.1688098311424255e-07,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3415,
+                -0.0072,
+                0.7701
+              ],
+              "controller_target_position": [
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+                -0.0072,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              ],
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                  0.0,
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+                "position_threshold_m": 0.015,
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+              "source_pose_held_object": "beaker_b",
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+              "wrist_compensated_return_position": -1.6098334789276123
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3415,
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              -0.0006,
+              -0.0008,
+              0.0017
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+              0.341,
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+              1.0373
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
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+              0.0672,
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+              0.3,
+              0.4
+            ],
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+              0.2,
+              0.2
+            ],
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+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.0005692132126689606,
+                -0.0007955883140429831,
+                0.0016543160637130642
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 1.7279422277116758,
+            "pour_controller_source_return_step_error_deg": 2.0527582974807963,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.042581187714109,
+            "pour_controller_source_return_best_wrist_position": -1.6098334789276123,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6098334789276123,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.014044706893621924,
+            "valid_pour_held_xy_dist": 0.010772500059582366,
+            "valid_pour_held_gripper_dist": 0.007334334327583237,
+            "valid_pour_required_height": 0.8001463897966116,
+            "valid_pour_held_z": 1.0274151182372544,
+            "valid_pour_source_tilt_deg": 2.0527647605165944,
+            "valid_pour_source_upright_tilt_deg": 1.7279487133050924,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 2.1886080508667916e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3470988277807522,
+              -0.04089116361879337,
+              1.0274151182372544
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3357846844687399,
+              -0.016446274815165078,
+              1.0274151182372544
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.34144175612474603,
+              -0.028668719216979225,
+              1.0274151182372544
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3470988277807522,
+              -0.016446274815165078,
+              1.0274151182372544
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02693626602754184,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02458807612016554,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.01363805983636307,
+              -0.9995452772545436,
+              0.02689315976298534
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005832447056004258,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.033060489869214414,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3470988277807522,
+              -0.04089116361879337,
+              1.0274151182372544
+            ],
+            "held_grasp_finger_b": [
+              0.3357846844687399,
+              -0.016446274815165078,
+              1.0274151182372544
+            ],
+            "held_grasp_midpoint": [
+              0.34144175612474603,
+              -0.028668719216979225,
+              1.0274151182372544
+            ],
+            "held_grasp_object_position": [
+              0.3470988277807522,
+              -0.016446274815165078,
+              1.0274151182372544
+            ],
+            "held_grasp_finger_gap": 0.02693626602754184,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02458807612016554,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.01363805983636307,
+              -0.9995452772545436,
+              0.02689315976298534
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005832447056004258,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.033060489869214414,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.299824553116864,
+              0.1604500089045096,
+              0.7565863597626373
+            ],
+            "target_position": [
+              0.3020951426807319,
+              0.15423667146329426,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.006615220262844944,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21540676289019223,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863597626373,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556789500881099,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08596346300691997,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18670353633242368,
+            "release_required_pad_clearance": 0.052981731503459986,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9977864598697576,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "13506dc40601c7173c2e21cf1beacbe8a75234dffba614baf7d06a74acc471e9",
+    "visual_seed": 6535057627212017664,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_70_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d49cf23b470b5d380a7c0931ebc88030eb42ed5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_70_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.330341298926799,
+              0.15894949446519455,
+              0.9990452976876112
+            ],
+            "current_z": 0.9990452976876112,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.14245890948833517,
+            "gripper_z": 0.9992824029912746,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32534458600722604,
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+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024281467460347678,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.021509443072141296,
+              -0.9993610476397233,
+              0.02854540802232474
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006003342408891333,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03330626035119626,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3013592569865118,
+              0.16171815879394494,
+              0.7565864290298066
+            ],
+            "target_position": [
+              0.3061984033704964,
+              0.15578788180902628,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0076541180317191045,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21147632770776528,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864290298066,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517939528965029,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0887407676325787,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1838510762038565,
+            "release_required_pad_clearance": 0.05437038381628935,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.7646401407886207,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 212,
+            "max_placed_release_frames": 212
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "77c1f4faf50171d7deb4019bb9d8b3b76bf9aa1ebe4dd120c3550c1da40aaa22",
+    "visual_seed": 2760264598751919997,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_71_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..265e1f0ec4ad6ad6fdb6c035f1fa9d6a5978e653
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_71_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.32874209937932053,
+              0.15753940596425348,
+              0.9998241838256925
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+              0.152710319400101,
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+              0.1330911308833152,
+              0.9998241838256925
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+              0.15753940596425348,
+              0.9998241838256925
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+              0.32286009816856204,
+              0.14531526842378434,
+              0.9998241838256925
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+              0.012224137540469138,
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+            "object_to_finger_line_xy": 0.010600637830331,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04836248176175369,
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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": 174,
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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_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.34003863847319526,
+              -0.011823662699527964,
+              0.7701463897966117
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+            "gripper_position": [
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+              1.0269928997347042
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+              0.011203653289737518,
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+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f6e4bc561de58752522908cbd3e9e217aad447e9d63d7c2b0649c417c78bcfb4",
+    "visual_seed": 8180121582680455422,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_72_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..058d24c4929f3cff1e8027d1adbbeafbbbc44758
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_72_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.3271812151434659,
+              0.14889307861312417,
+              1.000188341376337
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+            "current_z": 1.000188341376337,
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+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.14360189357241615,
+            "gripper_z": 1.0006597840042657,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.14401988489561673,
+              1.0006597840042657
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+              0.00487319371750744,
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+            "object_to_gripper_z": -0.0004714426279286421,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.12460037900850339,
+              1.000188341376337
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+            "finger_b": [
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+              0.14889307861312417,
+              1.000188341376337
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+            "finger_midpoint": [
+              0.3211942499906321,
+              0.1367467288108138,
+              1.000188341376337
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+              0.012146349802310386,
+              0.0
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04823155387498264,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 174,
+            "max_stable_success_frames": 174,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+              ],
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+          }
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.020072634386867738,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 1.30385160446167e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+              "controller_target_position": [
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+              "wrist_joint_name": "wrist_3_joint",
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+              0.3,
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
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+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
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+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                0.0018074467298099068,
+                0.0019288796204625213,
+                -0.0013835151137440273
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+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 1.7482690386815973,
+            "pour_controller_source_return_step_error_deg": 1.854197745349653,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.8434189978543878,
+            "pour_controller_source_return_best_wrist_position": -1.6100479364395142,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6100479364395142,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.011469293966762805,
+            "valid_pour_held_xy_dist": 0.009770449398007837,
+            "valid_pour_held_gripper_dist": 0.006987936068439843,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.0254258070228413,
+            "valid_pour_source_tilt_deg": 1.8542251547309474,
+            "valid_pour_source_upright_tilt_deg": 1.7482948295731586,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.30385160446167e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.34626889194392113,
+              -0.03925497864884412,
+              1.0254258070228413
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3346896747348078,
+              -0.015258001100619558,
+              1.0254258070228413
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3404792833393645,
+              -0.027256489874731837,
+              1.0254258070228413
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.34626889194392113,
+              -0.015258001100619558,
+              1.0254258070228413
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02664457172907494,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024134773503879194,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.012864979326298369,
+              -0.9995345066130565,
+              0.027663376452048197
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0059526932335536974,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03328180460388114,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.34626889194392113,
+              -0.03925497864884412,
+              1.0254258070228413
+            ],
+            "held_grasp_finger_b": [
+              0.3346896747348078,
+              -0.015258001100619558,
+              1.0254258070228413
+            ],
+            "held_grasp_midpoint": [
+              0.3404792833393645,
+              -0.027256489874731837,
+              1.0254258070228413
+            ],
+            "held_grasp_object_position": [
+              0.34626889194392113,
+              -0.015258001100619558,
+              1.0254258070228413
+            ],
+            "held_grasp_finger_gap": 0.02664457172907494,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024134773503879194,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.012864979326298369,
+              -0.9995345066130565,
+              0.027663376452048197
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0059526932335536974,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03328180460388114,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.30236823590064865,
+              0.1575084070445392,
+              0.7565863473739175
+            ],
+            "target_position": [
+              0.3029907847324981,
+              0.14754758026660145,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.009980262378721252,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21438073267784447,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863473739175,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529231047652678,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08618962396068179,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18687725285918888,
+            "release_required_pad_clearance": 0.0530948119803409,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2162574609022245,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3315e7ede9a9fd6eb6b2d1539f12954fbb3bcedf872c60e5b53af2ac55372063",
+    "visual_seed": 6754911416258575651,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_73_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae2f7c7151ea49d8ef247d0c674442ca9221afce
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_73_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.32453594043235034,
+              0.1589888195295887,
+              1.000848572330215
+            ],
+            "current_z": 1.000848572330215,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.14426212452629417,
+            "gripper_z": 1.0013479601190964,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31944759220597957,
+              0.15402404198707703,
+              1.0013479601190964
+            ],
+            "object_minus_gripper": [
+              0.005088348226370776,
+              0.004964777542511678,
+              -0.0004993877888814779
+            ],
+            "object_to_gripper_xy": 0.007109170396005353,
+            "object_to_gripper_z": -0.0004993877888814779,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32453594043235034,
+              0.1346778400643883,
+              1.000848572330215
+            ],
+            "finger_b": [
+              0.31236195309254694,
+              0.1589888195295887,
+              1.000848572330215
+            ],
+            "finger_midpoint": [
+              0.3184489467624486,
+              0.1468333297969885,
+              1.000848572330215
+            ],
+            "object_minus_finger_midpoint": [
+              0.00608699366990173,
+              0.012155489732600222,
+              0.0
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.282850694686023,
+              0.1598345354163411,
+              0.7565863860646815
+            ],
+            "target_position": [
+              0.30025904959416105,
+              0.15553704051956074,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.01793095878628771,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2025275594052339,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863860646815,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550611909123671,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08885530380813796,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17514268025050653,
+            "release_required_pad_clearance": 0.05442765190406898,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.8821644883934434,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 236,
+            "max_placed_release_frames": 236
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9a25445a368b35350c570592d7546fcdb257b8f0bc8b81bbe9129e08300bf406",
+    "visual_seed": 5387154273224124237,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_75_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffba3b193a497c151e61092690a9617028703d93
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_75_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+      "target": "beaker_b",
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+          "skill": "pick",
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+              0.1390641397653213,
+              1.000000473276701
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+            "stable_success_frames": 174,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+                },
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+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "xy_threshold": 0.15,
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
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+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9853a63ba179bb7723f8bf857b36b9244884f1d0b2784156d1fd223c765348b9",
+    "visual_seed": 7092034822457454892,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_76_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3eba4b7cdf1b90bf7cf566974e678322cf10fb78
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_76_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.1562640099377553,
+              0.9974856635785956
+            ],
+            "current_z": 0.9974856635785956,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14089915617003002,
+            "gripper_z": 0.9978293737436135,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.15150036244728127,
+              0.9978293737436135
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+              0.004763647490474032,
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+            "object_to_gripper_z": -0.0003437101650178853,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32602927425182116,
+              0.13162315449468823,
+              0.9974856635785956
+            ],
+            "finger_b": [
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+              0.1562640099377553,
+              0.9974856635785956
+            ],
+            "finger_midpoint": [
+              0.3202888904508482,
+              0.14394358221622178,
+              0.9974856635785956
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012320427721533522,
+              0.0
+            ],
+            "finger_gap": 0.027184182564425605,
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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": 0.010406637543157515,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 172,
+            "max_stable_success_frames": 172,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.00557604353255771,
+              0.7701463897966114
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+              -0.018153447241720536,
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+              0.004813741962564297,
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.93489385338133,
+            "source_upright_tilt_deg": 2.783178323456988,
+            "max_source_upright_tilt_deg": 89.86715298949315,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
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+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+                0.7701
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+              "controller_target_position": [
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+              "controller_target_minus_raw_target": [
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+              "wrist_dof_index": 5,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+            "pour_controller_workflow_step_index": 1,
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+            "pour_controller_raw_target_position": [
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+            "pour_controller_height_range_1": [
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
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+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+                0.4
+              ],
+              "pour_height_range_m": [
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+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.776072778364124,
+            "pour_controller_source_return_best_wrist_position": -1.6103971004486084,
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+            "pour_controller_wrist_compensated_return_position": -1.6103971004486084,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.012580741232083524,
+            "valid_pour_held_xy_dist": 0.009111625457836796,
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+            "valid_pour_required_height": 0.8001463897966115,
+            "valid_pour_held_z": 1.0255923612392503,
+            "valid_pour_source_tilt_deg": 1.8824747791801377,
+            "valid_pour_source_upright_tilt_deg": 2.783178323456988,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.382278246855146e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.34763727266104855,
+              -0.037355194533404155,
+              1.0255923612392503
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3360755860246632,
+              -0.013339705279156238,
+              1.0255923612392503
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.34185642934285587,
+              -0.025347449906280198,
+              1.0255923612392503
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.34763727266104855,
+              -0.013339705279156238,
+              1.0255923612392503
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026653636187185956,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02440630483631792,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.036252770776009455,
+              -0.9988204448785938,
+              0.032302561873486124
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.006224243461384952,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.033416215723064746,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.34763727266104855,
+              -0.037355194533404155,
+              1.0255923612392503
+            ],
+            "held_grasp_finger_b": [
+              0.3360755860246632,
+              -0.013339705279156238,
+              1.0255923612392503
+            ],
+            "held_grasp_midpoint": [
+              0.34185642934285587,
+              -0.025347449906280198,
+              1.0255923612392503
+            ],
+            "held_grasp_object_position": [
+              0.34763727266104855,
+              -0.013339705279156238,
+              1.0255923612392503
+            ],
+            "held_grasp_finger_gap": 0.026653636187185956,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02440630483631792,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.036252770776009455,
+              -0.9988204448785938,
+              0.032302561873486124
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006224243461384952,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.033416215723064746,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.29003108526869753,
+              0.15639471161874452,
+              0.7565864631533616
+            ],
+            "target_position": [
+              0.30181419622711286,
+              0.15375244002375132,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.012075731987752768,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2088748981166325,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864631533616,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562097356632759,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08831913762345932,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1802481995452145,
+            "release_required_pad_clearance": 0.05415956881172966,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.3343664941512148,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 255,
+            "max_placed_release_frames": 255
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aac1e881dc3aeef3199f7d773f304016a5f21be7f9dc175258f0005a39e5eaaa",
+    "visual_seed": 8091133907584851770,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_77_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b9cea88ed6deaf5988b747e85b9809bbd9a0172
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_77_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3220392795800679,
+              0.15509570480336815,
+              0.9972436881668695
+            ],
+            "current_z": 0.9972436881668695,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.1406571807583038,
+            "gripper_z": 0.998324170983601,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31674536055003355,
+              0.1501228155414578,
+              0.998324170983601
+            ],
+            "object_minus_gripper": [
+              0.005293919030034344,
+              0.004972889261910363,
+              -0.001080482816731565
+            ],
+            "object_to_gripper_xy": 0.007263277931332599,
+            "object_to_gripper_z": -0.001080482816731565,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3220392795800679,
+              0.13051148749180605,
+              0.9972436881668695
+            ],
+            "finger_b": [
+              0.3100142515952339,
+              0.15509570480336815,
+              0.9972436881668695
+            ],
+            "finger_midpoint": [
+              0.31602676558765086,
+              0.1428035961475871,
+              0.9972436881668695
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060125139924170345,
+              0.012292108655781064,
+              0.0
+            ],
+            "finger_gap": 0.027367591031330303,
+            "fingertip_max_gap": 0.0920186738829,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013683795515665176,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9972436881668695,
+            "object_top_z": 1.042545542033408,
+            "finger_top_clearance": 0.04530185386653851,
+            "fingertip_min_top_clearance": 0.013590556159961536,
+            "object_projection_between_fingers": 0.8069370006956481,
+            "object_to_finger_line_xy": 0.010802043220331101,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04850933694145,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8028491219339688,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
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+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2859856310908548,
+              0.1520401471266592,
+              0.756586809009492
+            ],
+            "target_position": [
+              0.29757881596496977,
+              0.15008246094204844,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.011757315625721044,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2071871504451618,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756586809009492,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580347382822128,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08800589901664228,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17797409223515875,
+            "release_required_pad_clearance": 0.054002949508321144,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.016877897524843,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 256,
+            "max_placed_release_frames": 256
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "598ce97c6796624482ca26a21a5962abf7a425f573ab0305263ba82f4f94e2c2",
+    "visual_seed": 782327396126714557,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_7_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed9e9f042050f65cb7729593da7ae437068ce6ca
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_7_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "skill": "pick",
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+              0.14220537641165965,
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+            "stable_success_frames": 174,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+    {
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+      "skill": "pour",
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+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "metrics": {
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+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+                "wrist_2_joint",
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bcc668c4ecfc9f5c4d372dcfe0771ca025f1bf21c56b86212c237077419a0d12",
+    "visual_seed": 4625143177682641410,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_80_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..89ea1ae236efc5c2a6bbf802a2371a12a4715c71
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_80_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+              0.9989698495160304
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+              0.14523272223613415,
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+                {
+                  "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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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "source_tilt_threshold_deg": 30.0,
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+            "missing_target_orientation_samples": 0,
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+            "max_valid_pour_pose_frames": 219,
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+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
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+              "source_name": "beaker",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "pour_controller_source_pose_held_object": "beaker_b",
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+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.012489047235162544,
+            "valid_pour_held_xy_dist": 0.008964359329470577,
+            "valid_pour_held_gripper_dist": 0.007009584254423648,
+            "valid_pour_required_height": 0.8001463897966119,
+            "valid_pour_held_z": 1.028308107423299,
+            "valid_pour_source_tilt_deg": 1.981069060417163,
+            "valid_pour_source_upright_tilt_deg": 2.054174670673137,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.332993507385254e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.34527006783773123,
+              -0.04303701094557058,
+              1.028308107423299
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3340840526314296,
+              -0.018726869011979688,
+              1.028308107423299
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.33967706023458044,
+              -0.030881939978775134,
+              1.028308107423299
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.34527006783773123,
+              -0.018726869011979688,
+              1.028308107423299
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.0267602305114688,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02449771918552464,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.01816546692933323,
+              -0.9993573901209619,
+              0.030900204236528395
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005824907698944486,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.033154564562349546,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.34527006783773123,
+              -0.04303701094557058,
+              1.028308107423299
+            ],
+            "held_grasp_finger_b": [
+              0.3340840526314296,
+              -0.018726869011979688,
+              1.028308107423299
+            ],
+            "held_grasp_midpoint": [
+              0.33967706023458044,
+              -0.030881939978775134,
+              1.028308107423299
+            ],
+            "held_grasp_object_position": [
+              0.34527006783773123,
+              -0.018726869011979688,
+              1.028308107423299
+            ],
+            "held_grasp_finger_gap": 0.0267602305114688,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02449771918552464,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.01816546692933323,
+              -0.9993573901209619,
+              0.030900204236528395
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005824907698944486,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.033154564562349546,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.29915836695794573,
+              0.15332151881987724,
+              0.756587174740677
+            ],
+            "target_position": [
+              0.30262635040733143,
+              0.15317518245876405,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.003471069508926177,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21199865378139737,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756587174740677,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562352474380715,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09034337466137014,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18192327496060942,
+            "release_required_pad_clearance": 0.055171687330685074,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.434282335481959,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6f4b2215d1bc0851d4ef4862a462594400a0b257ce05aebce0e123eb68bfb997",
+    "visual_seed": 6706481473824213276,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_81_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3cd9596db0ff3315fdce35873d1d146d7712688
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_81_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.32832839580180395,
+              0.15733255610813743,
+              0.9975108075497422
+            ],
+            "current_z": 0.9975108075497422,
+            "required_z": 0.8565864478039209,
+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.1409243597458213,
+            "gripper_z": 0.9978778886269558,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3233376914766286,
+              0.1525134740763373,
+              0.9978778886269558
+            ],
+            "object_minus_gripper": [
+              0.004990704325175344,
+              0.00481908203180012,
+              -0.0003670810772136157
+            ],
+            "object_to_gripper_xy": 0.00693762792967039,
+            "object_to_gripper_z": -0.0003670810772136157,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32832839580180395,
+              0.1329062085754223,
+              0.9975108075497422
+            ],
+            "finger_b": [
+              0.31660141317390866,
+              0.15733255610813743,
+              0.9975108075497422
+            ],
+            "finger_midpoint": [
+              0.3224649044878563,
+              0.14511938234177985,
+              0.9975108075497422
+            ],
+            "object_minus_finger_midpoint": [
+              0.005863491313947644,
+              0.012213173766357582,
+              0.0
+            ],
+            "finger_gap": 0.02709554530442111,
+            "fingertip_max_gap": 0.09172660749218944,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013547772652210566,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9975108075497422,
+            "object_top_z": 1.0428958077941477,
+            "finger_top_clearance": 0.045385000244405505,
+            "fingertip_min_top_clearance": 0.013615500073321617,
+            "object_projection_between_fingers": 0.8126831818012195,
+            "object_to_finger_line_xy": 0.010571750815893148,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048363303746094724,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.68649391907026,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 172,
+            "max_stable_success_frames": 172,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
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+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
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+                "left_inner_finger",
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+                "panda_joint1",
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+                "panda_joint3",
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+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3057716606216178,
+              0.17015530195550777,
+              0.7565897461561896
+            ],
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+              0.15455745713911523,
+              0.7730800627579277
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+            "xy_threshold": 0.08,
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+            "gripper_away_ok": true,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1901725178759519,
+            "release_required_pad_clearance": 0.055888588437848094,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.982983511144408,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4007ac095aa5fba533049ecd1919c1192c5819d875a435f624c2112cc197be6f",
+    "visual_seed": 5400897750575412545,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_82_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e20afe484a50ffcfd4092bc26ed55d79b003153
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_82_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "metrics": {
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 3.252969905026199e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_max_tilt_deg": 15.0,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
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+            "valid_pour_held_grasp_geometry_required": true,
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+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
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+          "failure_messages": {},
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+              "target_object": "beaker_c",
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+                "beaker_c"
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+                "Robotiq_2F_85",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
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+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+              "ignored_prim_substrings": [
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            "passed": true,
+            "source_missing": false,
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
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+            "failed_keys": []
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+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
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+      "physical_semantics": {
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
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+    {
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+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
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+            "target": "beaker_b",
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+            "release_gap_missing_size": false,
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+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "object_tilt_deg": 2.575407994605464,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
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+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4ec22e276d6fe9ca5aac7ba99c9b9510b7d1dbc283f22498b14d59cc5ef61eb6",
+    "visual_seed": 2625837013340980243,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_83_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..87756ab41f2e9383b65cbcb68283e64f5380fb36
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_83_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+                "dummy_base_prismatic_x_joint",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
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+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "geometry",
+                "gripper",
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+                "joint1",
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+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
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+            "source_missing": false,
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+      "skill": "pour",
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+      "reason": "executed",
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+            "valid_pour_held_grasp_finger_a": [
+              0.34749575444164094,
+              -0.038665932252257285,
+              1.026862093685607
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.33621062031256843,
+              -0.01424712050755439,
+              1.026862093685607
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3418531873771047,
+              -0.026456526379905837,
+              1.026862093685607
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.34749575444164094,
+              -0.01424712050755439,
+              1.026862093685607
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026900420430439317,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02457089738795409,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.01509962799119315,
+              -0.9992499354956331,
+              0.03565904719002788
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.00584241235568462,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03308517759901344,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.34749575444164094,
+              -0.038665932252257285,
+              1.026862093685607
+            ],
+            "held_grasp_finger_b": [
+              0.33621062031256843,
+              -0.01424712050755439,
+              1.026862093685607
+            ],
+            "held_grasp_midpoint": [
+              0.3418531873771047,
+              -0.026456526379905837,
+              1.026862093685607
+            ],
+            "held_grasp_object_position": [
+              0.34749575444164094,
+              -0.01424712050755439,
+              1.026862093685607
+            ],
+            "held_grasp_finger_gap": 0.026900420430439317,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02457089738795409,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.01509962799119315,
+              -0.9992499354956331,
+              0.03565904719002788
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00584241235568462,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03308517759901344,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3032391143823058,
+              0.1533375416837014,
+              0.7565862539362522
+            ],
+            "target_position": [
+              0.304503631115158,
+              0.15006322247879889,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0035100098038690214,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21304163844947954,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565862539362522,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519562112214899,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09059693868482842,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18436768534329823,
+            "release_required_pad_clearance": 0.05529846934241421,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.709021319610531,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 234,
+            "max_placed_release_frames": 234
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9eff6df1619dbc8f97246b2158e060911f7cb66cb663a2cfd9df24a9817da637",
+    "visual_seed": 7261296038734174030,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_84_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c2af8044d92cff8b86a544c05b48caa6fce8586
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_84_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3257264871089275,
+              0.15778243120142846,
+              0.9995133199328003
+            ],
+            "current_z": 0.9995133199328003,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14292681252423478,
+            "gripper_z": 0.9999876957061992,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3206090905711337,
+              0.1529501167384423,
+              0.9999876957061992
+            ],
+            "object_minus_gripper": [
+              0.005117396537793806,
+              0.004832314462986154,
+              -0.0004743757733988163
+            ],
+            "object_to_gripper_xy": 0.007038395441733094,
+            "object_to_gripper_z": -0.0004743757733988163,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3257264871089275,
+              0.13322863073692714,
+              0.9995133199328003
+            ],
+            "finger_b": [
+              0.3140273402135002,
+              0.15778243120142846,
+              0.9995133199328003
+            ],
+            "finger_midpoint": [
+              0.31987691366121385,
+              0.1455055309691778,
+              0.9995133199328003
+            ],
+            "object_minus_finger_midpoint": [
+              0.005849573447713641,
+              0.01227690023225067,
+              0.0
+            ],
+            "finger_gap": 0.027198513844166754,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013599256922083391,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9995133199328003,
+            "object_top_z": 1.0448046204684873,
+            "finger_top_clearance": 0.045291300535686974,
+            "fingertip_min_top_clearance": 0.013587390160706075,
+            "object_projection_between_fingers": 0.8149802714918978,
+            "object_to_finger_line_xy": 0.010561552006887276,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04828618106367817,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5924450113238175,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 174,
+            "max_stable_success_frames": 174,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "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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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3021307204337329,
+              0.16231266433955163,
+              0.7565865730873911
+            ],
+            "target_position": [
+              0.3014805377801441,
+              0.15436878682966812,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.007970440851989358,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21474534458546446,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865730873911,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521969192042025,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08743500572445599,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1869229202100558,
+            "release_required_pad_clearance": 0.053717502862228,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4441063061832646,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 214,
+            "max_placed_release_frames": 214
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f1cba7a2f52252471e7fc5cbda843d087c7329c9236b8b9d9932da304cfb6599",
+    "visual_seed": 2702073461075718785,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_85_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..40ca7f34992b639a7e05933c7530e8d35b879981
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_85_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+            "object_position": [
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+              0.15402098785535398,
+              0.9987641530337616
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+            "current_z": 0.9987641530337616,
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+            "lift_margin": 0.14217770522984086,
+            "gripper_z": 0.9988635607827768,
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+              0.14907180400438977,
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+              0.004949183850964212,
+              -9.940774901517901e-05
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+            "object_to_gripper_z": -9.940774901517901e-05,
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+              0.1295312088273462,
+              0.9987641530337616
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+              0.15402098785535398,
+              0.9987641530337616
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+              0.14177609834135008,
+              0.9987641530337616
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+              0.012244889514003904,
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+              0.0,
+              1.0
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+            "stable_success_frames": 174,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+            "failed_keys": []
+          }
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+      },
+      "physical_semantics": {
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.76744248993404,
+            "source_upright_tilt_deg": 1.7690619173259539,
+            "max_source_upright_tilt_deg": 89.99096226311343,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 6.664001874625056e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_tilt_deg": 0.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+              "controller_target_position": [
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+              "controller_target_minus_raw_target": [
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+              "controller_event": 6,
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+              "source_size": [
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+              "height_range_1": [
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+                0.4
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+                0.2
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+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                  0.0,
+                  0.0
+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
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+                "pour_pose_offset_m": [
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+                  -0.0007986505115219571,
+                  0.0015270033158113466
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+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
+              "source_return_upright_error_deg": 1.7690562752890595,
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+              "source_return_stable_frames": 5,
+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 1.8184944637408798,
+              "source_return_best_wrist_position": -1.6096748113632202,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6096748113632202
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3444,
+              -0.0083,
+              0.7701
+            ],
+            "pour_controller_controller_target_position": [
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+              -0.0083,
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+            ],
+            "pour_controller_controller_target_minus_raw_target": [
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+              -0.0,
+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.0008,
+              0.0015
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
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+              -0.0344,
+              1.0371
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0636,
+              0.0931
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                -0.0007986505115219571,
+                0.0015270033158113466
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 1.7690562752890595,
+            "pour_controller_source_return_step_error_deg": 1.8316683024851492,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.8184944637408798,
+            "pour_controller_source_return_best_wrist_position": -1.6096748113632202,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6096748113632202,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.014242956174190606,
+            "valid_pour_held_xy_dist": 0.010374836784192565,
+            "valid_pour_held_gripper_dist": 0.007179290600764841,
+            "valid_pour_required_height": 0.8001463897966118,
+            "valid_pour_held_z": 1.0283594177424593,
+            "valid_pour_source_tilt_deg": 1.831675383983866,
+            "valid_pour_source_upright_tilt_deg": 1.7690619173259539,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.664001874625056e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.34892907850764343,
+              -0.04184604503411125,
+              1.0283594177424593
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3373662821798157,
+              -0.01759974461534815,
+              1.0283594177424593
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.34314768034372956,
+              -0.0297228948247297,
+              1.0283594177424593
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.34892907850764343,
+              -0.01759974461534815,
+              1.0283594177424593
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026862266153765555,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024365175424759283,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.011280247096293487,
+              -0.999523383216976,
+              0.02873608233452951
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005927972598018383,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.033148068453133145,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.34892907850764343,
+              -0.04184604503411125,
+              1.0283594177424593
+            ],
+            "held_grasp_finger_b": [
+              0.3373662821798157,
+              -0.01759974461534815,
+              1.0283594177424593
+            ],
+            "held_grasp_midpoint": [
+              0.34314768034372956,
+              -0.0297228948247297,
+              1.0283594177424593
+            ],
+            "held_grasp_object_position": [
+              0.34892907850764343,
+              -0.01759974461534815,
+              1.0283594177424593
+            ],
+            "held_grasp_finger_gap": 0.026862266153765555,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024365175424759283,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.011280247096293487,
+              -0.999523383216976,
+              0.02873608233452951
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005927972598018383,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.033148068453133145,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2958364876714138,
+              0.1489384311437721,
+              0.7565865242122829
+            ],
+            "target_position": [
+              0.3012902561238028,
+              0.14996621367471644,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.005549768217068864,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2114071972108308,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865242122829,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584505521026848,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08526098803671149,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18127979159806623,
+            "release_required_pad_clearance": 0.05263049401835575,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3214250742982223,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 214,
+            "max_placed_release_frames": 214
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c808a12b7566918c581bbc14e63f66a4a6b7af322542cadd4d9a9cef5d42aa2b",
+    "visual_seed": 4296390050507531844,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_86_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fad9312eb56ffb12948e04b5367f5d35672fc51
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_86_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "reason": "executed",
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+          "failure_messages": {},
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+              "robot_prim_substrings": [
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+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+        "ordinary_object_physical_only": true
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
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+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "source_name": "beaker",
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+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.0076517328889561444,
+              -0.9995853391702807,
+              0.027759695596870075
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005644979337957972,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03305030583771555,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3473369409716927,
+              -0.03896645403179594,
+              1.0256868654841065
+            ],
+            "held_grasp_finger_b": [
+              0.3362535771209792,
+              -0.01457169328417632,
+              1.0256868654841065
+            ],
+            "held_grasp_midpoint": [
+              0.34179525904633595,
+              -0.026769073657986128,
+              1.0256868654841065
+            ],
+            "held_grasp_object_position": [
+              0.3473369409716927,
+              -0.01457169328417632,
+              1.0256868654841065
+            ],
+            "held_grasp_finger_gap": 0.026794501416912128,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02446945213558398,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.0076517328889561444,
+              -0.9995853391702807,
+              0.027759695596870075
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005644979337957972,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03305030583771555,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2914516183780223,
+              0.14948689776940552,
+              0.756589605004814
+            ],
+            "target_position": [
+              0.2993657684134534,
+              0.15059245155817236,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.007990996180900788,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20863284333441512,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756589605004814,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531919676804649,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08904980253099858,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17922041159793678,
+            "release_required_pad_clearance": 0.05452490126549929,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.082094645933714,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 254,
+            "max_placed_release_frames": 254
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8c8e91eeb78f431cf6d4fb40313b9fa5f6cd2c445028aae522117abebcbcb897",
+    "visual_seed": 8322626071029103132,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_87_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..19d38d5ca1fe19e12d634bb89336d19bfc59bbee
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_87_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.32533352662479975,
+              0.15221627085611925,
+              0.9977564877745988
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+            "gripper_z": 0.9983237560079056,
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+            "gripper_position": [
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+              0.14734904685552158,
+              0.9983237560079056
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+              0.004867224000597664,
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+            "object_to_gripper_z": -0.0005672682333067725,
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+              0.32533352662479975,
+              0.12768240948994974,
+              0.9977564877745988
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+            "finger_b": [
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+              0.15221627085611925,
+              0.9977564877745988
+            ],
+            "finger_midpoint": [
+              0.3194351497655797,
+              0.1399493401730345,
+              0.9977564877745988
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+              0.005898376859220067,
+              0.012266930683084737,
+              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": 0.04836882305935848,
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+            "object_tilt_deg": 1.7493769209776964,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 172,
+            "max_stable_success_frames": 172,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              0.15061745174620206,
+              0.7565884623129233
+            ],
+            "target_position": [
+              0.3010483309696434,
+              0.14962813675164188,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0040394938173176536,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21854639440196377,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565884623129233,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520033668260098,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0907239725957628,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1890801797079925,
+            "release_required_pad_clearance": 0.0553619862978814,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.8441639939780865,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "86630e58d551fba8a3e20f64fdd8d57884f50dd2a0a7ebe9691cd7cace3ee598",
+    "visual_seed": 7286963425491699070,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_88_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..11916a45563ffe63bd17464e7d14c1ea9bf11128
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_88_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.1495376822153045,
+              1.0007332256679387
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+            "current_z": 1.0007332256679387,
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+            "gripper_z": 1.0011270715258112,
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+            "gripper_position": [
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+              0.144642336886582,
+              1.0011270715258112
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+              0.004895345328722489,
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+            "object_to_gripper_z": -0.00039384585787249904,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.32951984209403923,
+              0.1250458119326384,
+              1.0007332256679387
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+            "finger_b": [
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+              0.1495376822153045,
+              1.0007332256679387
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+            "finger_midpoint": [
+              0.3235733748504248,
+              0.13729174707397146,
+              1.0007332256679387
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+              0.012245935141333042,
+              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": 0.04813013995339234,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 175,
+            "max_stable_success_frames": 175,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+            },
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+          }
+        },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+            "missing_active_wrist_index": false,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.83316019022443,
+            "source_upright_tilt_deg": 1.6562732252482295,
+            "max_source_upright_tilt_deg": 89.90528350749842,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.910440850940516,
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+            "target_xy_drift": 3.1828894262453654e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.7701
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+              "controller_target_position": [
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+                0.7701
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+              "controller_target_minus_raw_target": [
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+                0.0,
+                -0.0
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+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                "position_threshold_m": 0.015,
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+              "wrist_compensated_return_position": -1.6097010374069214
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
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+            "pour_controller_controller_t": 0.0,
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
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+                0.0,
+                0.0
+              ],
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+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
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+              "position_threshold_m": 0.015,
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+              "approach_xy_threshold_m": 0.08,
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+                -0.0018982011613286796,
+                0.00017597046879573022
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+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 1.656271881132382,
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+            "pour_controller_source_return_best_wrist_position": -1.6097010374069214,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6097010374069214,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.0149605039135259,
+            "valid_pour_held_xy_dist": 0.011809083542536096,
+            "valid_pour_held_gripper_dist": 0.0071103547774053425,
+            "valid_pour_required_height": 0.8001463897966118,
+            "valid_pour_held_z": 1.0268828024194574,
+            "valid_pour_source_tilt_deg": 1.910440850940516,
+            "valid_pour_source_upright_tilt_deg": 1.6562732252482295,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.1828894262453654e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.35200345335280253,
+              -0.041908007754252186,
+              1.0268828024194574
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3406785372744641,
+              -0.017591569229710537,
+              1.0268828024194574
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3463409953136333,
+              -0.02974978849198136,
+              1.0268828024194574
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.35200345335280253,
+              -0.017591569229710537,
+              1.0268828024194574
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026824296946969944,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024355326991985973,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.004330933375694104,
+              -0.9995822172080819,
+              0.028576809784687685
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0057255916422660905,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.0330716089268384,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35200345335280253,
+              -0.041908007754252186,
+              1.0268828024194574
+            ],
+            "held_grasp_finger_b": [
+              0.3406785372744641,
+              -0.017591569229710537,
+              1.0268828024194574
+            ],
+            "held_grasp_midpoint": [
+              0.3463409953136333,
+              -0.02974978849198136,
+              1.0268828024194574
+            ],
+            "held_grasp_object_position": [
+              0.35200345335280253,
+              -0.017591569229710537,
+              1.0268828024194574
+            ],
+            "held_grasp_finger_gap": 0.026824296946969944,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024355326991985973,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.004330933375694104,
+              -0.9995822172080819,
+              0.028576809784687685
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0057255916422660905,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0330716089268384,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.30235394656417575,
+              0.14642326442778383,
+              0.7565864638228152
+            ],
+            "target_position": [
+              0.3052140284936525,
+              0.14713172370847602,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0029465205235528627,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21310351971247693,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864638228152,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538066959086931,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08554453609732253,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18334742867706139,
+            "release_required_pad_clearance": 0.05277226804866127,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5934708892687878,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 214,
+            "max_placed_release_frames": 214
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "580fc1e96903182241ec9dbd40b211de94f25ff05e0d4eaee4b146816455c606",
+    "visual_seed": 2626882062834451377,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_89_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce1c644496907bf114e16eb8c5b2c8be5c398175
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_89_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+              0.34502492710114135,
+              -0.041134843255634504,
+              1.0254188487834104
+            ],
+            "held_grasp_finger_b": [
+              0.3336226626874238,
+              -0.01665568465217783,
+              1.0254188487834104
+            ],
+            "held_grasp_midpoint": [
+              0.33932379489428255,
+              -0.028895263953906167,
+              1.0254188487834104
+            ],
+            "held_grasp_object_position": [
+              0.34502492710114135,
+              -0.01665568465217783,
+              1.0254188487834104
+            ],
+            "held_grasp_finger_gap": 0.027004459626023193,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024454639200002383,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.001264704485019841,
+              -0.9995874487079203,
+              0.028693778213339287
+            ],
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+            "held_grasp_object_to_finger_line_xy": 0.005696490969992393,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03295848487086617,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.30393474338007653,
+              0.14989698198694165,
+              0.7565909387766216
+            ],
+            "target_position": [
+              0.2977903614111788,
+              0.14926530691439371,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.006176766401361947,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21920142836667875,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565909387766216,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544051603877752,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08713441530345777,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18868109883406187,
+            "release_required_pad_clearance": 0.053567207651728885,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1442031554350387,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 89,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "75c101edaf5d81b434e30d25a8f5710e349c892a17582311983240298f03cd20",
+    "visual_seed": 8936769207477289382,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_8_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ceec2de37607624e1a64203286423fbae63471c8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_8_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+              0.14945971887631093,
+              0.9983968881095616
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+            "gripper_z": 0.9985520934492184,
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+              0.14458556742304726,
+              0.9985520934492184
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+              0.00487415145326367,
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+            "object_to_gripper_z": -0.00015520533965673877,
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+              0.3277267546575407,
+              0.12522187692848838,
+              0.9983968881095616
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+              0.9983968881095616
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+              0.13734079790239967,
+              0.9983968881095616
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+              0.012118920973911262,
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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": 0.010753386351494094,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04845465148654289,
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+            "object_tilt_deg": 0.9284278079732627,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 173,
+            "max_stable_success_frames": 173,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "release_required_pad_clearance": 0.05454267056874244,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.1071334774679,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 213,
+            "max_placed_release_frames": 213
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6f2ab7db0c9d936a8bfd56c01b2f438006f4e02d46eb2a09ee20a95b6bb98452",
+    "visual_seed": 4339175849056055122,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_90_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e495957f5ac4d6f2b2304ae121ac7e000c7de9fd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_90_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3248061451446071,
+              0.15630372775358792,
+              0.998901983134946
+            ],
+            "current_z": 0.998901983134946,
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+            "initial_z": 0.7565863881992761,
+            "lift_margin": 0.14231559493566992,
+            "gripper_z": 0.9993990415831857,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.15132936557592253,
+              0.9993990415831857
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+              0.004974362177665392,
+              -0.0004970584482396623
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+            "object_to_gripper_z": -0.0004970584482396623,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3248061451446071,
+              0.13185168925109556,
+              0.998901983134946
+            ],
+            "finger_b": [
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+              0.15630372775358792,
+              0.998901983134946
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+              0.14407770850234175,
+              0.998901983134946
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012226019251246167,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010846012353760502,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 173,
+            "max_stable_success_frames": 173,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+          }
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.770146389796612
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_upright_tilt_deg": 89.66471193138455,
+            "uses_end_effector_tilt_evidence": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 7.264316081480315e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
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+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+              "controller_target_minus_raw_target": [
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.001,
+              0.0019,
+              -0.0017
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+              0.344,
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+              1.0339
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
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+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
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+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
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+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                0.0019345340456560474,
+                -0.0017315599829576622
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+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 2.142739500432592,
+            "pour_controller_source_return_step_error_deg": 1.8971736560863797,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.1344021165862634,
+            "pour_controller_source_return_best_wrist_position": -1.610169768333435,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.610169768333435,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.011258689398317333,
+            "valid_pour_held_xy_dist": 0.009005977273609791,
+            "valid_pour_held_gripper_dist": 0.007207478742750294,
+            "valid_pour_required_height": 0.800146389796612,
+            "valid_pour_held_z": 1.0251168870328051,
+            "valid_pour_source_tilt_deg": 1.8972128806481556,
+            "valid_pour_source_upright_tilt_deg": 2.142776167598512,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 7.264316081480315e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.349464712733285,
+              -0.037445877476916606,
+              1.0251168870328051
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.33762979901683954,
+              -0.013380857578371761,
+              1.0251168870328051
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3435472558750623,
+              -0.025413367527644184,
+              1.0251168870328051
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.349464712733285,
+              -0.013380857578371761,
+              1.0251168870328051
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026817724836254626,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024314426739487843,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.022495637688836216,
+              -0.9993007655854125,
+              0.029865133272449544
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.006196950809606116,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03330924552711065,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.349464712733285,
+              -0.037445877476916606,
+              1.0251168870328051
+            ],
+            "held_grasp_finger_b": [
+              0.33762979901683954,
+              -0.013380857578371761,
+              1.0251168870328051
+            ],
+            "held_grasp_midpoint": [
+              0.3435472558750623,
+              -0.025413367527644184,
+              1.0251168870328051
+            ],
+            "held_grasp_object_position": [
+              0.349464712733285,
+              -0.013380857578371761,
+              1.0251168870328051
+            ],
+            "held_grasp_finger_gap": 0.026817724836254626,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024314426739487843,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.022495637688836216,
+              -0.9993007655854125,
+              0.029865133272449544
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006196950809606116,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03330924552711065,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.30417875904053243,
+              0.156817082053933,
+              0.7565863390058635
+            ],
+            "target_position": [
+              0.3004443497117083,
+              0.15313395798585952,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.005245113529374819,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21765346339147612,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863390058635,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569658379849069,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08656796554398903,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1876570323888989,
+            "release_required_pad_clearance": 0.05328398277199452,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5870447430124437,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 252,
+            "max_placed_release_frames": 252
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f0125e46d1df7d7a113a1c502f674719ad54792294050e31d34e785cf488993a",
+    "visual_seed": 4528745322140102983,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_91_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cdde800cd5006d07dc110b3ac745a3a5dd377e1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_91_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3295887307014629,
+              0.15540237294252163,
+              0.9981335403965322
+            ],
+            "current_z": 0.9981335403965322,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.1415469733833219,
+            "gripper_z": 0.9979836867665749,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32451946548749266,
+              0.15056481324887466,
+              0.9979836867665749
+            ],
+            "object_minus_gripper": [
+              0.00506926521397022,
+              0.0048375596936469645,
+              0.00014985362995734164
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.012530761213262295,
+              -0.9992977232665211,
+              0.03531345774296024
+            ],
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+            "held_grasp_object_to_finger_line_xy": 0.005853486447643549,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03316908829363091,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.30102541079310624,
+              0.15064562421657374,
+              0.756586406177937
+            ],
+            "target_position": [
+              0.305265074643497,
+              0.15352020836546404,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20990363243343127,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756586406177937,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548113809255276,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08830945996369997,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.179752364620946,
+            "release_required_pad_clearance": 0.05415472998184999,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.324256268895384,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 211,
+            "max_placed_release_frames": 211
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 91,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a9f1a8b42e0a86229a358f002d37c93df43c5d74a0e271d4e431c02b83106ebc",
+    "visual_seed": 731878772000009352,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_92_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f7f34afb4dcf6c25a3f2c8fcce5398afd213654
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_92_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+              0.13654980855241977,
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+            "stable_success_frames": 173,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 92,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "49b64b9eb79bd7c778e8f6b8e03b8a858f2a1562f4130e9f0752de77a47f424e",
+    "visual_seed": 3573449731656144514,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_93_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdbc9f2d943bd0cfb1dd88d547b24a5c9ca110ac
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_93_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+              0.9982702943884871
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+            "lift_margin": 0.1416837273752768,
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+            "virtual_attach_allowed": false,
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+              0.1426608263572039,
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+              0.12324716479052253,
+              0.9982702943884871
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+              0.14762597873501804,
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+              0.1354365717627703,
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+            ],
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+              0.01218940697224774,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 172,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+            },
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+          }
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+        "target": "beaker_b",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.011942457550533043,
+              0.7701463897966113
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.75132356186414,
+            "source_upright_tilt_deg": 2.016981947321549,
+            "max_source_upright_tilt_deg": 89.83916372820863,
+            "uses_end_effector_tilt_evidence": false,
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+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 6.798654794519521e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+              "controller_target_position": [
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+              "controller_target_minus_raw_target": [
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+                "tilt_strategy": "wrist_velocity",
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+            "pour_controller_height_range_1": [
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+              0.4
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+            "pour_controller_height_range_2": [
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+              0.2
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+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0008843711065680158,
+                0.0017373184153137446,
+                0.001560429707747505
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 2.016974817452568,
+            "pour_controller_source_return_step_error_deg": 1.916880104749668,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.9936041056008196,
+            "pour_controller_source_return_best_wrist_position": -1.6084007024765015,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6084007024765015,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.011834333784842038,
+            "valid_pour_held_xy_dist": 0.009726566036948926,
+            "valid_pour_held_gripper_dist": 0.0071672118446014675,
+            "valid_pour_required_height": 0.8001463897966113,
+            "valid_pour_held_z": 1.0278220571215635,
+            "valid_pour_source_tilt_deg": 1.916876954232418,
+            "valid_pour_source_upright_tilt_deg": 2.016981947321549,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.798654794519521e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3456919375688782,
+              -0.043298494806664346,
+              1.0278220571215635
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.33436915187404437,
+              -0.018876890756642874,
+              1.0278220571215635
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3400305447214613,
+              -0.03108769278165361,
+              1.0278220571215635
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3456919375688782,
+              -0.018876890756642874,
+              1.0278220571215635
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026918770779275184,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02435533807924639,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.004516161600034818,
+              -0.999380448524853,
+              0.03490448954885305
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005622401076561545,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03297142039622714,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3456919375688782,
+              -0.043298494806664346,
+              1.0278220571215635
+            ],
+            "held_grasp_finger_b": [
+              0.33436915187404437,
+              -0.018876890756642874,
+              1.0278220571215635
+            ],
+            "held_grasp_midpoint": [
+              0.3400305447214613,
+              -0.03108769278165361,
+              1.0278220571215635
+            ],
+            "held_grasp_object_position": [
+              0.3456919375688782,
+              -0.018876890756642874,
+              1.0278220571215635
+            ],
+            "held_grasp_finger_gap": 0.026918770779275184,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02435533807924639,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.004516161600034818,
+              -0.999380448524853,
+              0.03490448954885305
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005622401076561545,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03297142039622714,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.29385327562000285,
+              0.15182555690574354,
+              0.756586706321086
+            ],
+            "target_position": [
+              0.29855752342401337,
+              0.145992071675813,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.007493964059785424,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21157452830469312,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756586706321086,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529348960340188,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08900561774080955,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1836199767788962,
+            "release_required_pad_clearance": 0.054502808870404776,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.036969805012928,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 93,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cf0b327594de99894f0a4c2a0da088d22f3b79ebb5e7262f678c8585316c2a32",
+    "visual_seed": 3902027409022003514,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_94_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f662dc061305ca64d1c02e9a71f03a4b3f18f8e8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_94_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.32455749925167715,
+              0.1500783061182559,
+              0.9982715926002292
+            ],
+            "current_z": 0.9982715926002292,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.14168508519166367,
+            "gripper_z": 0.9986528450070447,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3195590435678861,
+              0.1454316200404549,
+              0.9986528450070447
+            ],
+            "object_minus_gripper": [
+              0.0049984556837910366,
+              0.004646686077800999,
+              -0.0003812524068154133
+            ],
+            "object_to_gripper_xy": 0.0068246795330222315,
+            "object_to_gripper_z": -0.0003812524068154133,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32455749925167715,
+              0.1253943365800413,
+              0.9982715926002292
+            ],
+            "finger_b": [
+              0.313409735306172,
+              0.1500783061182559,
+              0.9982715926002292
+            ],
+            "finger_midpoint": [
+              0.31898361727892455,
+              0.1377363213491486,
+              0.9982715926002292
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055738819727526034,
+              0.012341984769107306,
+              0.0
+            ],
+            "finger_gap": 0.027084515745130305,
+            "fingertip_max_gap": 0.09149696841806884,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013542257872565164,
+            "object_to_finger_midpoint_z": 0.0,
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+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.28638832363671146,
+              0.14591649074698781,
+              0.7565862129534948
+            ],
+            "target_position": [
+              0.30045586355897824,
+              0.14597725338309436,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.01406767114921714,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20560762253886608,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565862129534948,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075251406034712,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08899348969362945,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1771212912654761,
+            "release_required_pad_clearance": 0.05449674484681473,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.022399368812132,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 255,
+            "max_placed_release_frames": 255
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 94,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "684c831b3ecfbc1a77ea33ae4b5486d511f02ea0cf204bfed1a0af38fe49e5b4",
+    "visual_seed": 3936607136588439334,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_96_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aedcdec1bd0f72981459cbbaf405f0bd6f0fff17
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_96_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+              0.14906835934874926,
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+              0.13682810642501506,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 96,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b8cdb9e0d9d5ee68821e8ebf969d6c0f30673b1497c30fb38d9af64a8c4dd885",
+    "visual_seed": 6500984468820931021,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_97_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..40021555e7852bd2a62602c300b1de86d8d65205
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_97_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+              0.15273588069867658,
+              0.9984121985287168
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+            "initial_z": 0.7565864478039206,
+            "lift_margin": 0.1418257507247962,
+            "gripper_z": 0.9994717264810402,
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+            "gripper_position": [
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+              0.1478520652387828,
+              0.9994717264810402
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+              0.0048838154598937755,
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+            "object_to_gripper_z": -0.0010595279523234469,
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+              0.12807450365168455,
+              0.9984121985287168
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+            "finger_b": [
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+              0.9984121985287168
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+            "finger_midpoint": [
+              0.317803079934415,
+              0.14040519217518055,
+              0.9984121985287168
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+              0.01233068852349603,
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+            ],
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04838756422477601,
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+            "object_upright_axis_local": [
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+              0.0,
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+            ],
+            "stable_success_frames": 173,
+            "max_stable_success_frames": 173,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+          }
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7701463897966118
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+            "max_source_tilt_deg": 89.93688558898484,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_max_tilt_deg": 15.0,
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+              "controller_target_position": [
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+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "resolved_tilt_axis_world": null,
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+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
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+                0.0,
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+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                0.00026077519917366366,
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+            },
+            "pour_controller_source_pose_feedback": true,
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+            "pour_controller_source_return_best_error_deg": 2.778626562840936,
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+            "pour_controller_wrist_compensated_return_position": -1.6102088689804077,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.013019147955869372,
+            "valid_pour_held_xy_dist": 0.008956913853486905,
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+            "valid_pour_required_height": 0.8001463897966118,
+            "valid_pour_held_z": 1.0263093795345708,
+            "valid_pour_source_tilt_deg": 1.9142035200273484,
+            "valid_pour_source_upright_tilt_deg": 2.7857762846627505,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 8.66129994392395e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.349353244815046,
+              -0.035331076547120296,
+              1.0263093795345708
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3375431150140856,
+              -0.011288296438549245,
+              1.0263093795345708
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3434481799145658,
+              -0.02330968649283477,
+              1.0263093795345708
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.349353244815046,
+              -0.011288296438549245,
+              1.0263093795345708
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02678683335642031,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024471213900292197,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.03868260229765568,
+              -0.9988182413878599,
+              0.02942408792714212
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.006375297157814905,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03342146456983892,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.349353244815046,
+              -0.035331076547120296,
+              1.0263093795345708
+            ],
+            "held_grasp_finger_b": [
+              0.3375431150140856,
+              -0.011288296438549245,
+              1.0263093795345708
+            ],
+            "held_grasp_midpoint": [
+              0.3434481799145658,
+              -0.02330968649283477,
+              1.0263093795345708
+            ],
+            "held_grasp_object_position": [
+              0.349353244815046,
+              -0.011288296438549245,
+              1.0263093795345708
+            ],
+            "held_grasp_finger_gap": 0.02678683335642031,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024471213900292197,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.03868260229765568,
+              -0.9988182413878599,
+              0.02942408792714212
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006375297157814905,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03342146456983892,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.3008681956802065,
+              0.1497633995576149,
+              0.7565862939529717
+            ],
+            "target_position": [
+              0.2992864688242822,
+              0.148271998313722,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0021739681499592734,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21543316826372133,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565862939529717,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752609371594293,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08528782114254917,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18599773920159193,
+            "release_required_pad_clearance": 0.052643910571274585,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.34717879894189196,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 97,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aac92a9bfc71ed347d0e6ce452ef88f4a52d2b6752d65c4e82e3d6a4a7c3828e",
+    "visual_seed": 8337075601084167331,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_98_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..18134f34f1e6ceeb71a6e2f260a627e0009bc832
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_98_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.32995171774941956,
+              0.1523870729976889,
+              0.9983343878249202
+            ],
+            "current_z": 0.9983343878249202,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.14174799962564422,
+            "gripper_z": 0.9986937804415345,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3249065290541907,
+              0.14760254315726262,
+              0.9986937804415345
+            ],
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+              0.005045188695228853,
+              0.004784529840426266,
+              -0.00035939261661421806
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+            "object_to_gripper_xy": 0.006953103966171828,
+            "object_to_gripper_z": -0.00035939261661421806,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32995171774941956,
+              0.12787788777712544,
+              0.9983343878249202
+            ],
+            "finger_b": [
+              0.31832956710990445,
+              0.1523870729976889,
+              0.9983343878249202
+            ],
+            "finger_midpoint": [
+              0.324140642429662,
+              0.14013248038740717,
+              0.9983343878249202
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+            "object_minus_finger_midpoint": [
+              0.005811075319757553,
+              0.012254592610281723,
+              0.0
+            ],
+            "finger_gap": 0.027125164435694522,
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+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013562582217847261,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9983343878249202,
+            "object_top_z": 1.0436220282962405,
+            "finger_top_clearance": 0.04528764047132028,
+            "fingertip_min_top_clearance": 0.013586292141396067,
+            "object_projection_between_fingers": 0.8164187844174722,
+            "object_to_finger_line_xy": 0.010501298281912963,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048321051062977474,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6398103731626799,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 173,
+            "max_stable_success_frames": 173,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.30391268553476347,
+              0.14713639475701498,
+              0.7565863852721255
+            ],
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+              0.3057936031064031,
+              0.1485194349002516,
+              0.7730800627579277
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2131837228240025,
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+            "gripper_away_ok": true,
+            "object_z": 0.7565863852721255,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534510340591924,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08652767152999467,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1831509021532763,
+            "release_required_pad_clearance": 0.05326383576499734,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5475927761512442,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 98,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5953257507180844248,
+    "physical_seed": 6518739613801117055,
+    "layout_id": "layout_00015",
+    "step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "workflow_spec_digest": "778b41c49c83cb8687990822af440cf53159d97b5c99dccdb7e610afa8a47879",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4dc1e8014e33e15139cab396f58d2be78d4e2a645492f1e45404f26cfe6b9ba2",
+    "visual_seed": 3927649927971955417,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3306441442816909540,
+      577695694772848705,
+      8691107015742857011
+    ],
+    "runtime_workflow_digest": "8201f45c1922bf78de3a6808cdbe1c93d3df1c275f5bb8b7f968a65baac3ef92"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_9_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bd286579ea90d8205f687dcfd628cb6a2b1a015
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00015/results/episode_9_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "failed_keys": [],
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+          "failure_messages": {},
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
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+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+    {
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+      "skill": "pour",
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+      "reason": "executed",
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+        "checker": {
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+            "source_tilt_threshold_deg": 30.0,
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+            "target_upright_reference_source": "scene_initial",
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+                "gripper",
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+                "wrist_2_joint",
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+                "ground",
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diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..be3670bd9f60340b1052a86c90c65900e94cedc0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
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plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_11","position":[-0.18082006358310554,1.5021033332658331,0.71338606911949],"aabb_xy":[[-0.2448200659259071,1.4571624820217004],[-0.11682006124030399,1.5470441845099654]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_12","position":[0.608738560103562,0.33102623719981095,0.71338606911949],"aabb_xy":[[0.6041034449513286,0.3271589021226622],[0.6133736752557953,0.3348935722769595]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_13","position":[0.42677508883096804,1.352189585889227,0.71338606911949],"aabb_xy":[[0.3767750893907723,1.3022216614049107],[0.47677508827116355,1.4021575103735433]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_14","position":[-0.3670198214825402,-1.8571023905794282,0.71338606911949],"aabb_xy":[[-0.40451982214711885,-1.8727894485796501],[-0.32951982081796144,-1.8414153325792058]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_15","position":[-0.4789540212353337,1.0589801580498488,0.71338606911949],"aabb_xy":[[-0.4842915969013382,1.0339801571207092],[-0.4736164455693291,1.0839801589789888]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_16","position":[0.4285267884388946,1.6098420154388102,0.71338606911949],"aabb_xy":[[0.4084683768256543,1.589776928529653],[0.44858520005213487,1.6299071023479679]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_17","position":[-0.09690917191524007,-0.023739935542252955,0.71338606911949],"aabb_xy":[[-0.14690917319908,-0.07371878993287505],[-0.04690917063140009,0.026238918848369146]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_18","position":[0.21514748054123645,-1.6361450165297562,0.71338606911949],"aabb_xy":[[0.20956580890710771,-1.6486450163475315],[0.22072915217536523,-1.6236450167119805]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_19","position":[0.5103503094786979,0.34226026928393605,0.71338606911949],"aabb_xy":[[0.48788553950729263,0.3197602684050755],[0.5328150794501029,0.3647602701627965]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_20","position":[0.1406809859304664,-1.3953185686863525,0.71338606911949],"aabb_xy":[[0.07568098482452315,-1.4202839417544808],[0.20568098703640972,-1.3703531956182242]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_21","position":[0.5279438560596907,-0.07313167551892352,0.71338606911949],"aabb_xy":[[0.44794385904544276,-0.0932662271923348],[0.6079438530739387,-0.05299712384551225]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_22","position":[0.2520847276486906,1.0299199540158592,0.71338606911949],"aabb_xy":[[0.2288028854505593,0.9449199527186313],[0.27536656984682195,1.1149199553130873]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glas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diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/resolved_config.yaml b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0fcf87106d0d29f7028d757dbbb1ef89583b5f85
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/resolved_config.yaml
@@ -0,0 +1,254 @@
+name: fast_3beaker_preloaded_mix_s03_pol_cvg_00016
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker b from home. Pour beaker b into the preloaded
+    beaker c and return it upright. Place beaker b at home.
+  layout_id: layout_00016
+  reproducibility:
+    enabled: true
+    layout_id: layout_00016
+    action_seed: 2891541627295583141
+    step_seeds:
+    - 1164515841808467485
+    - 5066845160497422571
+    - 1159376154734467498
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2723
+      - 0.2723
+      'y':
+      - 0.2018
+      - 0.2018
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2485
+      - 0.2485
+      'y':
+      - -0.1379
+      - -0.1379
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_c
+    path: /World/beaker_3
+    position_range:
+      x:
+      - 0.3538
+      - 0.3538
+      'y':
+      - -0.0052
+      - -0.0052
+      z:
+      - 0.0
+      - 0.0
+    role: receiver
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.1276
+      - 0.1276
+      'y':
+      - 0.4191
+      - 0.4191
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2047
+      - 0.2047
+      'y':
+      - -0.4076
+      - -0.4076
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  steps:
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.25
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: false
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      hold_grasp_pose_until_close: false
+  - skill: pour
+    target_object: beaker_c
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.006
+      - 0.002
+      - 0.012
+      - 0.01
+      - 0.009
+      - 0.01
+      pour_speed: -1.5
+      source_name: beaker
+      approach_xy_threshold: 0.08
+      tilt_position_threshold: 0.04
+      height_range_1:
+      - 0.3
+      - 0.4
+      height_range_2:
+      - 0.2
+      - 0.2
+      position_only: false
+      tilt_strategy: wrist_velocity
+      position_threshold: 0.015
+      post_return_recenter: true
+      lock_target_position: true
+      held_gripper_distances: 0.019
+  - skill: place
+    target_object: beaker_b
+    target_key: beaker_b_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+  gripper_contact_profile: pour_torsional
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_0_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..30b3c3cbfee5fb94e8e7709d0558da799861535f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_0_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.26984885004910203,
+              -0.13211404082163866,
+              0.998108480729746
+            ],
+            "current_z": 0.998108480729746,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.14152209253047,
+            "gripper_z": 0.9992164827595608,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26589646078074547,
+              -0.13630130351009828,
+              0.9992164827595608
+            ],
+            "object_minus_gripper": [
+              0.00395238926835656,
+              0.00418726268845962,
+              -0.0011080020298147586
+            ],
+            "object_to_gripper_xy": 0.005757998762659314,
+            "object_to_gripper_z": -0.0011080020298147586,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26984885004910203,
+              -0.15581605880642946,
+              0.998108480729746
+            ],
+            "finger_b": [
+              0.25919335916520453,
+              -0.13211404082163866,
+              0.998108480729746
+            ],
+            "finger_midpoint": [
+              0.2645211046071533,
+              -0.14396504981403407,
+              0.998108480729746
+            ],
+            "object_minus_finger_midpoint": [
+              0.00532774544194875,
+              0.011851008992395412,
+              0.0
+            ],
+            "finger_gap": 0.02598701873105434,
+            "fingertip_max_gap": 0.09247837619308497,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012993509365527182,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.998108480729746,
+            "object_top_z": 1.0434791595237256,
+            "finger_top_clearance": 0.0453706787939796,
+            "fingertip_min_top_clearance": 0.01361120363819388,
+            "object_projection_between_fingers": 0.831874339000955,
+            "object_to_finger_line_xy": 0.00971856907407038,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048739188096542485,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.197974412275055,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
+            "max_stable_success_frames": 161,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.37783801678198536,
+              -0.005019251163636439,
+              0.7701463237434936
+            ],
+            "gripper_position": [
+              0.37110804405248404,
+              -0.03482072522178441,
+              1.048399147213707
+            ],
+            "target_minus_gripper": [
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+              0.029801474058147967,
+              -0.2782528234702135
+            ],
+            "held_position": [
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+              -0.03078805984532198,
+              1.0471233987487298
+            ],
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+              -0.02576880868168554,
+              0.2769770750052363
+            ],
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+              0.0040326653764624285,
+              -0.0012757484649772444
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+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463237434936,
+            "held_z": 1.0471233987487298,
+            "required_height": 0.8001463237434936,
+            "gripper_z": 1.048399147213707,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.83750747495284,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "source_start_tilt_deg": 1.9404990420836934,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.9867258613302545,
+            "max_source_tilt_deg": 89.82495733711187,
+            "source_upright_tilt_deg": 2.937571062543683,
+            "max_source_upright_tilt_deg": 89.91621834893562,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.9867258613302545,
+            "source_upright_return_tilt_deg": 2.937571062543683,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.459694684880558e-08,
+            "max_target_xy_drift": 1.994559287481788e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.05595290691456034,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 2.073808981150174e-05,
+            "max_target_tilt_deg": 0.00014545506855371428,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3778,
+                -0.005,
+                0.7701
+              ],
+              "controller_target_position": [
+                0.3778,
+                -0.005,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
+                -0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                -0.0002,
+                0.0007,
+                0.0006
+              ],
+              "controller_last_pour_pose_position": [
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+                -0.0301,
+                1.0365
+              ],
+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
+                0.067,
+                0.0656,
+                0.0941
+              ],
+              "height_range_1": [
+                0.3,
+                0.4
+              ],
+              "height_range_2": [
+                0.2,
+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  0.0
+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
+                  -0.00023402560819989833,
+                  0.0007271216440910304,
+                  0.0005604091971482608
+                ],
+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
+              "source_return_upright_error_deg": 2.9375788240870166,
+              "source_return_step_error_deg": 2.98673424293543,
+              "source_return_stable_frames": 5,
+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 2.9772671018258254,
+              "source_return_best_wrist_position": -1.6356770992279053,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6356770992279053
+            },
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+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+              -0.005,
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+              -0.0,
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+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              0.0007,
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+              1.0365
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
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+              0.067,
+              0.0656,
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+              0.3,
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+            ],
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+              0.2,
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+            ],
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                0.0007271216440910304,
+                0.0005604091971482608
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 2.9375788240870166,
+            "pour_controller_source_return_step_error_deg": 2.98673424293543,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.9772671018258254,
+            "pour_controller_source_return_best_wrist_position": -1.6356770992279053,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6356770992279053,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03055192938225502,
+            "valid_pour_held_xy_dist": 0.025906501161922047,
+            "valid_pour_held_gripper_dist": 0.005864639521667332,
+            "valid_pour_required_height": 0.8001463237434936,
+            "valid_pour_held_z": 1.0471233987487298,
+            "valid_pour_source_tilt_deg": 2.9867258613302545,
+            "valid_pour_source_upright_tilt_deg": 2.937571062543683,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.459694684880558e-08,
+            "valid_pour_target_tilt_deg": 2.073808981150174e-05,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3751705645182407,
+              -0.05425313487696173,
+              1.0471233987487298
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3652078112073519,
+              -0.03078805984532198,
+              1.0471233987487298
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3701891878627963,
+              -0.04252059736114185,
+              1.0471233987487298
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3751705645182407,
+              -0.03078805984532198,
+              1.0471233987487298
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02549247339459451,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023578310949179213,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.01446081173036577,
+              -0.9986859798077014,
+              0.049165014589953246
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005182520871801581,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.045200224965810776,
+            "valid_pour_held_grasp_top_clearance": 0.03355513899116601,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3751705645182407,
+              -0.05425313487696173,
+              1.0471233987487298
+            ],
+            "held_grasp_finger_b": [
+              0.3652078112073519,
+              -0.03078805984532198,
+              1.0471233987487298
+            ],
+            "held_grasp_midpoint": [
+              0.3701891878627963,
+              -0.04252059736114185,
+              1.0471233987487298
+            ],
+            "held_grasp_object_position": [
+              0.3751705645182407,
+              -0.03078805984532198,
+              1.0471233987487298
+            ],
+            "held_grasp_finger_gap": 0.02549247339459451,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023578310949179213,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.01446081173036577,
+              -0.9986859798077014,
+              0.049165014589953246
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005182520871801581,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03355513899116601,
+            "held_grasp_min_top_clearance": 0.013560067489743232,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2506480650969901,
+              -0.1335953859833001,
+              0.7565867078097152
+            ],
+            "target_position": [
+              0.2481712648287243,
+              -0.13634870018907233,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0037034144629772255,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.217474752490179,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565867078097152,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540609773801454,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08807021010281628,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.189275326767522,
+            "release_required_pad_clearance": 0.05403510505140814,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.0818234979973416,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 203,
+            "max_placed_release_frames": 203
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c7e39533ea7debca5fdc97148624dd9a524f8ab442356f1c5bd776bbce658a52",
+    "visual_seed": 3657853827072739905,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_100_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..93eee513f1e45517f68a30513db038f28e1382d3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_100_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.266346239116099,
+              -0.1367596828000877,
+              0.9965719893018263
+            ],
+            "current_z": 0.9965719893018263,
+            "required_z": 0.8565865832631093,
+            "initial_z": 0.7565865832631093,
+            "lift_margin": 0.139985406038717,
+            "gripper_z": 0.9985982232082194,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2624995569456432,
+              -0.1407866111322454,
+              0.9985982232082194
+            ],
+            "object_minus_gripper": [
+              0.0038466821704558063,
+              0.004026928332157675,
+              -0.0020262339063931156
+            ],
+            "object_to_gripper_xy": 0.005568942046101467,
+            "object_to_gripper_z": -0.0020262339063931156,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.266346239116099,
+              -0.16066017811135178,
+              0.9965719893018263
+            ],
+            "finger_b": [
+              0.25631742696069093,
+              -0.1367596828000877,
+              0.9965719893018263
+            ],
+            "finger_midpoint": [
+              0.26133183303839497,
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+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.23771068788949454,
+              -0.14907485591330447,
+              0.7565860505680981
+            ],
+            "target_position": [
+              0.24525030952605986,
+              -0.13865298832563575,
+              0.7730800627579277
+            ],
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+            "xy_dist": 0.012863172953725835,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21062537653385305,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565860505680981,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551716962596514,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09522752405134059,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18035427738605833,
+            "release_required_pad_clearance": 0.0576137620256703,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 10.994014063767153,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 203,
+            "max_placed_release_frames": 203
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 100,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b56e2c95b5ed9d13cc122d1250051129bab2e0abf10a13b9c63a5f7f8e3cb566",
+    "visual_seed": 3752834178155702544,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_101_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bebce28c92bb10f7cfd9b267d0061c1eacf05936
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_101_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+          "skill": "pick",
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+              0.9981010142079898
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+              -0.14328252539390635,
+              0.9981010142079898
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+              0.0,
+              1.0
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+            "stable_success_frames": 163,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+          }
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "target_position": [
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+            "held_gripper_threshold": 0.12,
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 101,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7be7bfb1efbe38437ab899fdb0fca7044ff4c851a13d5d93d374d5e882ca1b89",
+    "visual_seed": 3853848311690975661,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_102_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_102_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c42395d602651e83ee69d1cfd2496c39016fa98d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_102_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 102,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              -0.13832078480457424,
+              0.9986578146612923
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+            "current_z": 0.9986578146612923,
+            "required_z": 0.8565865283537971,
+            "initial_z": 0.7565865283537971,
+            "lift_margin": 0.14207128630749521,
+            "gripper_z": 0.9995775293272762,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.14223796986702533,
+              0.9995775293272762
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+              0.0033944445174790006,
+              0.0039171850624510895,
+              -0.0009197146659838396
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+            "object_to_gripper_xy": 0.005183299373539328,
+            "object_to_gripper_z": -0.0009197146659838396,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2732392996960387,
+              -0.1615665130205364,
+              0.9986578146612923
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+            "finger_b": [
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+              -0.13832078480457424,
+              0.9986578146612923
+            ],
+            "finger_midpoint": [
+              0.26804850159559007,
+              -0.14994364891255532,
+              0.9986578146612923
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011622864107981079,
+              0.0
+            ],
+            "finger_gap": 0.025458621721704894,
+            "fingertip_max_gap": 0.09333682776659497,
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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": 1.044045904634754,
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+            "object_to_finger_line_xy": 0.009479215582522207,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049168413883297485,
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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": 162,
+            "max_stable_success_frames": 162,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+            },
+            "failed_keys": []
+          }
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.004674215012557728,
+              0.7701464494012563
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+              -0.034767067036810165,
+              1.045693594213347
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+              0.0037837784291092913,
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+            "wrist_idx": 5,
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+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.80362451831941,
+            "source_upright_tilt_deg": 2.0583692267139027,
+            "max_source_upright_tilt_deg": 89.99260612745651,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "source_upright_return_tilt_deg": 2.0583692267139027,
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+            "target_xy_drift": 4.053393605590917e-08,
+            "max_target_xy_drift": 1.3465584700505053e-07,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.7701
+              ],
+              "controller_target_position": [
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+                -0.0047,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+                  0.2
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+            "pour_controller_skill": "pour",
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+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_t": 0.0,
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+              0.0924
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "tilt_strategy": "wrist_velocity",
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+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0015637232882224432,
+                0.00029720669740368683,
+                -0.00013816709870607545
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+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 2.0583671512306823,
+            "pour_controller_source_return_step_error_deg": 1.8950127088389952,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.053977306886967,
+            "pour_controller_source_return_best_wrist_position": -1.6085759401321411,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6085759401321411,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.031048361119673847,
+            "valid_pour_held_xy_dist": 0.026630845007964483,
+            "valid_pour_held_gripper_dist": 0.0052651265952158135,
+            "valid_pour_required_height": 0.8001464494012563,
+            "valid_pour_held_z": 1.0446728882691816,
+            "valid_pour_source_tilt_deg": 1.8950339180711038,
+            "valid_pour_source_upright_tilt_deg": 2.0583692267139027,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 4.053393605590917e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3685339206399921,
+              -0.054435906171000255,
+              1.0446728882691816
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3589337448668024,
+              -0.030983288607700873,
+              1.0446728882691816
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3637338327533972,
+              -0.04270959738935057,
+              1.0446728882691816
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3685339206399921,
+              -0.030983288607700873,
+              1.0446728882691816
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025341441266165516,
+            "valid_pour_held_grasp_max_gap": 0.12496597826480865,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023664124864092133,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.023607881698885017,
+              -0.9993547622942995,
+              0.027068930555081083
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005085403348489368,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04748298913240433,
+            "valid_pour_held_grasp_object_top_z": 0.045200709253549576,
+            "valid_pour_held_grasp_top_clearance": 0.033595286635445476,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560212776064872,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3685339206399921,
+              -0.054435906171000255,
+              1.0446728882691816
+            ],
+            "held_grasp_finger_b": [
+              0.3589337448668024,
+              -0.030983288607700873,
+              1.0446728882691816
+            ],
+            "held_grasp_midpoint": [
+              0.3637338327533972,
+              -0.04270959738935057,
+              1.0446728882691816
+            ],
+            "held_grasp_object_position": [
+              0.3685339206399921,
+              -0.030983288607700873,
+              1.0446728882691816
+            ],
+            "held_grasp_finger_gap": 0.025341441266165516,
+            "held_grasp_max_gap": 0.12496597826480865,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023664124864092133,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.023607881698885017,
+              -0.9993547622942995,
+              0.027068930555081083
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005085403348489368,
+            "held_grasp_line_xy_max_dist": 0.04748298913240433,
+            "held_grasp_object_top_z": 0.045200709253549576,
+            "held_grasp_top_clearance": 0.033595286635445476,
+            "held_grasp_min_top_clearance": 0.013560212776064872,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.23097102260993785,
+              -0.12124151310598826,
+              0.7565868008622525
+            ],
+            "target_position": [
+              0.2519408593448728,
+              -0.1427079439553776,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.030009027076888746,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20540778434905305,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565868008622525,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08536512085087726,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09025254137212178,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18278214199571025,
+            "release_required_pad_clearance": 0.055126270686060894,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.341569100186281,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 193,
+            "max_placed_release_frames": 193
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 102,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0b7daa37f390e7d46e3856b5a6c26bb3657f1ff7ecc2577694b399629d89e752",
+    "visual_seed": 3739798724589547653,
+    "episode_index": 102,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_103_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd10cc16fec6d94025909992c9410d729d97236c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_103_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.266909198696094,
+              -0.1356266586505258,
+              0.9988674090933419
+            ],
+            "current_z": 0.9988674090933419,
+            "required_z": 0.8565865210928337,
+            "initial_z": 0.7565865210928338,
+            "lift_margin": 0.1422808880005082,
+            "gripper_z": 1.000493732160501,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2634665540696084,
+              -0.13956568917722595,
+              1.000493732160501
+            ],
+            "object_minus_gripper": [
+              0.0034426446264855803,
+              0.003939030526700138,
+              -0.0016263230671590412
+            ],
+            "object_to_gripper_xy": 0.005231420793106363,
+            "object_to_gripper_z": -0.0016263230671590412,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.266909198696094,
+              -0.1589322436588214,
+              0.9988674090933419
+            ],
+            "finger_b": [
+              0.25648219165192965,
+              -0.1356266586505258,
+              0.9988674090933419
+            ],
+            "finger_midpoint": [
+              0.2616956951740118,
+              -0.1472794511546736,
+              0.9988674090933419
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052135035220821635,
+              0.011652792504147802,
+              0.0
+            ],
+            "finger_gap": 0.02553179916257262,
+            "fingertip_max_gap": 0.09328092630745574,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012765899581286324,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24180473680768702,
+              -0.1413832992385811,
+              0.7565915558771394
+            ],
+            "target_position": [
+              0.24507022669041192,
+              -0.14014844204714963,
+              0.7730800627579277
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1869593738026698,
+            "release_required_pad_clearance": 0.05341598049131864,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8336868756464677,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 245,
+            "max_placed_release_frames": 245
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 103,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "29e85381483efb449f1866f0e0e6100d521cc9f79ea06ba4fddfe00c0d9c640c",
+    "visual_seed": 781671022679813466,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_105_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_105_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d717fd79730426214805f847464f22147086b91
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_105_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 105,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                {
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+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "passed": true,
+          "metrics": {
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+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 105,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fde8729543c845f1cbf4e01ff2ad2d62cf45eeff609548bde4e000fe09e6a895",
+    "visual_seed": 8829025058655700111,
+    "episode_index": 105,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_106_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_106_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2934197b93fe31306a9c8fe0a4a8f3567b45c9d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_106_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 106,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+              -0.13365089467008076,
+              0.996274107566587
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+            "current_z": 0.996274107566587,
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+            "initial_z": 0.7565865627938267,
+            "lift_margin": 0.13968754477276024,
+            "gripper_z": 0.9978365756155246,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.1376623476471725,
+              0.9978365756155246
+            ],
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+              0.0040114529770917395,
+              -0.0015624680489376708
+            ],
+            "object_to_gripper_xy": 0.005372376242527333,
+            "object_to_gripper_z": -0.0015624680489376708,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26992318492978706,
+              -0.1570350574018148,
+              0.996274107566587
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+            "finger_b": [
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+              -0.13365089467008076,
+              0.996274107566587
+            ],
+            "finger_midpoint": [
+              0.2646752988748079,
+              -0.14534297603594779,
+              0.996274107566587
+            ],
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+              0.011692081365867024,
+              0.0
+            ],
+            "finger_gap": 0.025631626925507456,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_min_top_clearance": 0.013644464941288358,
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+            "object_to_finger_line_xy": 0.009575468764732033,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04916274639543408,
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+            "object_tilt_deg": 2.943880331083306,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 159,
+            "max_stable_success_frames": 159,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "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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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+      },
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+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.010192015351124031,
+              0.7701463897966115
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+            "gripper_position": [
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+              -0.03776386417696774,
+              1.0472871822862277
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+              -0.03384656074833537,
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+              0.2754792089540762
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+              0.00391730342863237,
+              -0.0016615835355400232
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.77733350836503,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 1.9312288289532258,
+            "max_source_tilt_deg": 89.8553526940617,
+            "source_upright_tilt_deg": 2.9142214564066027,
+            "max_source_upright_tilt_deg": 89.72405393925959,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 1.0209351601362395e-07,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                -0.0102,
+                0.7701
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+              "controller_target_position": [
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+                -0.0102,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+              "pour_pose_offset": [
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+              ],
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_height_range_1": [
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+              0.4
+            ],
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+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
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+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+                0.4
+              ],
+              "pour_height_range_m": [
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+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
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+            "pour_controller_source_return_step_error_deg": 1.9312296404037712,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.9080386639385982,
+            "pour_controller_source_return_best_wrist_position": -1.6085950136184692,
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+            "pour_controller_wrist_compensated_return_position": -1.6085950136184692,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.028962752645393365,
+            "valid_pour_held_xy_dist": 0.024226732494934986,
+            "valid_pour_held_gripper_dist": 0.005595312938887763,
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+            "valid_pour_held_z": 1.0456255987506877,
+            "valid_pour_source_tilt_deg": 1.9312288289532258,
+            "valid_pour_source_upright_tilt_deg": 2.9142214564066027,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.0209351601362395e-07,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37433529268658916,
+              -0.05700441853515644,
+              1.0456255987506877
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3642257356615704,
+              -0.03384656074833537,
+              1.0456255987506877
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3692805141740798,
+              -0.045425489641745906,
+              1.0456255987506877
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37433529268658916,
+              -0.03384656074833537,
+              1.0456255987506877
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02526835017401681,
+            "valid_pour_held_grasp_max_gap": 0.1249658590555191,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02353582964646926,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.04034995151694289,
+              -0.9987067769201808,
+              0.030929842325570726
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005529276700530854,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04748292952775955,
+            "valid_pour_held_grasp_object_top_z": 0.04520067572593689,
+            "valid_pour_held_grasp_top_clearance": 0.03384068103851954,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560202717781066,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37433529268658916,
+              -0.05700441853515644,
+              1.0456255987506877
+            ],
+            "held_grasp_finger_b": [
+              0.3642257356615704,
+              -0.03384656074833537,
+              1.0456255987506877
+            ],
+            "held_grasp_midpoint": [
+              0.3692805141740798,
+              -0.045425489641745906,
+              1.0456255987506877
+            ],
+            "held_grasp_object_position": [
+              0.37433529268658916,
+              -0.03384656074833537,
+              1.0456255987506877
+            ],
+            "held_grasp_finger_gap": 0.02526835017401681,
+            "held_grasp_max_gap": 0.1249658590555191,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02353582964646926,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.04034995151694289,
+              -0.9987067769201808,
+              0.030929842325570726
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005529276700530854,
+            "held_grasp_line_xy_max_dist": 0.04748292952775955,
+            "held_grasp_object_top_z": 0.04520067572593689,
+            "held_grasp_top_clearance": 0.03384068103851954,
+            "held_grasp_min_top_clearance": 0.013560202717781066,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24195711834663727,
+              -0.13577055518055778,
+              0.7565864356524501
+            ],
+            "target_position": [
+              0.24848047543553273,
+              -0.13638405015445457,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.006552141924000059,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21220263289249616,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864356524501,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548277889441064,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08625483486493891,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18429500909131297,
+            "release_required_pad_clearance": 0.05312741743246946,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.280827304706039,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 242,
+            "max_placed_release_frames": 242
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 106,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b589d333c3a6344bef86a756175d541b81bb905aaef9cfe255bb68bc540dffea",
+    "visual_seed": 3981648091706444236,
+    "episode_index": 106,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_107_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_107_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2f13deeb3d7dd0250c34e769a477fe67c2a0269
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_107_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 107,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.268207353790606,
+              -0.13678882035049472,
+              0.9986742868565706
+            ],
+            "current_z": 0.9986742868565706,
+            "required_z": 0.8565866301002896,
+            "initial_z": 0.7565866301002896,
+            "lift_margin": 0.142087656756281,
+            "gripper_z": 1.000651356307793,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26447718529014946,
+              -0.14076768242433946,
+              1.000651356307793
+            ],
+            "object_minus_gripper": [
+              0.0037301685004565432,
+              0.0039788620738447356,
+              -0.0019770694512224463
+            ],
+            "object_to_gripper_xy": 0.005453943568142069,
+            "object_to_gripper_z": -0.0019770694512224463,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.268207353790606,
+              -0.160611358533107,
+              0.9986742868565706
+            ],
+            "finger_b": [
+              0.25826442893593066,
+              -0.13678882035049472,
+              0.9986742868565706
+            ],
+            "finger_midpoint": [
+              0.2632358913632683,
+              -0.14870008944180085,
+              0.9986742868565706
+            ],
+            "object_minus_finger_midpoint": [
+              0.004971462427337703,
+              0.011911269091306131,
+              0.0
+            ],
+            "finger_gap": 0.025814241808113238,
+            "fingertip_max_gap": 0.0935017266877676,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012907120904056615,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9986742868565706,
+            "object_top_z": 1.0442237821902576,
+            "finger_top_clearance": 0.04554949533368702,
+            "fingertip_min_top_clearance": 0.013664848600106088,
+            "object_projection_between_fingers": 0.8516424794174934,
+            "object_to_finger_line_xy": 0.009175776253978625,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0492508633438838,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.144938745175537,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 163,
+            "max_stable_success_frames": 163,
+            "required_stable_lift_frames": 5
+          },
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+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25095055964706914,
+              -0.1362771019163647,
+              0.7565875469732468
+            ],
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+              0.24735762874205625,
+              -0.1401393436886569,
+              0.7730800627579277
+            ],
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+            "xy_dist": 0.005275041610815568,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.22069301016727721,
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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": 0.07525225918285053,
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+            "release_fingertip_min_gap": 0.08761432464363221,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.19264400634142897,
+            "release_required_pad_clearance": 0.05380716232181611,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6203018101949462,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 246,
+            "max_placed_release_frames": 246
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 107,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3df8b7fd83c1171f03212d5d9aae3b116562496b0fefabd4f825bb6e6aa25066",
+    "visual_seed": 1758614412694753265,
+    "episode_index": 107,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_108_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_108_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c0a9a0bab19187575ad57a9d1edbe1f3503d230
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_108_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 108,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                {
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+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "metrics": {
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+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
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+            "target_xy_drift": 6.302790461364624e-08,
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+                "wrist_2_joint",
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+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 108,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0caa17889750e04994ee459ba58a029c822db60d6c3ce727d9160b45fc783a38",
+    "visual_seed": 5548430935019272962,
+    "episode_index": 108,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_109_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_109_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e147db1c5449172a976ddf718f5c1779027f9d00
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_109_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 109,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
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+      "target": "beaker_b",
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+      "reason": "executed",
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+              0.9969779199186208
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+              -0.1377705648846701,
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+              0.004037091987021374,
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+              -0.14555221480916014,
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+              0.011818741911511416,
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+            "stable_success_frames": 160,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+          }
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "source_tilt_threshold_deg": 30.0,
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+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_pose_failed_keys": [
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+            "valid_pour_held_z": 1.0435879851028282,
+            "valid_pour_source_tilt_deg": 2.307576293459474,
+            "valid_pour_source_upright_tilt_deg": 2.0313107306315246,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.2596290115011195e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.373028273661497,
+              -0.050196268176837214,
+              1.0435879851028282
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3634590897420422,
+              -0.02640328883377735,
+              1.0435879851028282
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3682436817017696,
+              -0.03829977850530728,
+              1.0435879851028282
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.373028273661497,
+              -0.02640328883377735,
+              1.0435879851028282
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025645177848937314,
+            "valid_pour_held_grasp_max_gap": 0.12496597081422806,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02400986930008464,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.024227892223270295,
+              -0.9993716129693196,
+              0.025872541999544252
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005080655107573005,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04748298540711403,
+            "valid_pour_held_grasp_object_top_z": 0.04520074650645256,
+            "valid_pour_held_grasp_top_clearance": 0.033427653013075445,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560223951935768,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.373028273661497,
+              -0.050196268176837214,
+              1.0435879851028282
+            ],
+            "held_grasp_finger_b": [
+              0.3634590897420422,
+              -0.02640328883377735,
+              1.0435879851028282
+            ],
+            "held_grasp_midpoint": [
+              0.3682436817017696,
+              -0.03829977850530728,
+              1.0435879851028282
+            ],
+            "held_grasp_object_position": [
+              0.373028273661497,
+              -0.02640328883377735,
+              1.0435879851028282
+            ],
+            "held_grasp_finger_gap": 0.025645177848937314,
+            "held_grasp_max_gap": 0.12496597081422806,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02400986930008464,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.024227892223270295,
+              -0.9993716129693196,
+              0.025872541999544252
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005080655107573005,
+            "held_grasp_line_xy_max_dist": 0.04748298540711403,
+            "held_grasp_object_top_z": 0.04520074650645256,
+            "held_grasp_top_clearance": 0.033427653013075445,
+            "held_grasp_min_top_clearance": 0.013560223951935768,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2488768672400174,
+              -0.13791533190522592,
+              0.756586269492519
+            ],
+            "target_position": [
+              0.24725955844693157,
+              -0.13592196723857533,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0025669418432141735,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21629888863373228,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756586269492519,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566951994882483,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08548564539846916,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18641028114479974,
+            "release_required_pad_clearance": 0.05274282269923458,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5366819173125154,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 201,
+            "max_placed_release_frames": 201
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 109,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1e7aa82a8af12aa09a335e96f7a9556e5dc04d7fc981f906537bf09466f5b2bd",
+    "visual_seed": 3092301827924246471,
+    "episode_index": 109,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_10_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e19ff1023be8fa8fb89321a182226074f04a90d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_10_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2682822789840119,
+              -0.13348088046690196,
+              0.9989816435583687
+            ],
+            "current_z": 0.9989816435583687,
+            "required_z": 0.8565865756641856,
+            "initial_z": 0.7565865756641856,
+            "lift_margin": 0.1423950678941831,
+            "gripper_z": 1.0005986166834966,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26478221398895185,
+              -0.13743820634372017,
+              1.0005986166834966
+            ],
+            "object_minus_gripper": [
+              0.0035000649950600593,
+              0.003957325876818213,
+              -0.001616973125127874
+            ],
+            "object_to_gripper_xy": 0.005283075152312317,
+            "object_to_gripper_z": -0.001616973125127874,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2682822789840119,
+              -0.15684431338082,
+              0.9989816435583687
+            ],
+            "finger_b": [
+              0.2578981433714992,
+              -0.13348088046690196,
+              0.9989816435583687
+            ],
+            "finger_midpoint": [
+              0.26309021117775555,
+              -0.14516259692386096,
+              0.9989816435583687
+            ],
+            "object_minus_finger_midpoint": [
+              0.005192067806256362,
+              0.011681716456959007,
+              0.0
+            ],
+            "finger_gap": 0.02556717172356387,
+            "fingertip_max_gap": 0.09327174918508643,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012783585861781922,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9989816435583687,
+            "object_top_z": 1.0444514031877916,
+            "finger_top_clearance": 0.0454697596294229,
+            "fingertip_min_top_clearance": 0.01364092788882687,
+            "object_projection_between_fingers": 0.8350412619481554,
+            "object_to_finger_line_xy": 0.00948908461112142,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04913587459254322,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.9103017127904005,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
+            "max_stable_success_frames": 161,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
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+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "left_inner_finger",
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+                "panda_leftfinger",
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+                "panda_rightfinger",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
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+                "rizon4",
+                "robot",
+                "robotiq_2f85",
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+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
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+              -0.13975240875185158,
+              0.7565863711012017
+            ],
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+              -0.13563615755000322,
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+            "object_upright_reference_source": "scene_initial",
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+            "release_min_pad_clearance": 0.1899475949903257,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.4189823650134237,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 201,
+            "max_placed_release_frames": 201
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e30b20aef76c5b0854af6f8eaeb01103578d34069483d2726e54ac88d72884f3",
+    "visual_seed": 4942027206749418253,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_110_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_110_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d247bf61f899cee08e02fca375cc16088887615
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_110_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 110,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "skill": "pick",
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+                },
+                {
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+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "max_source_upright_tilt_deg": 89.83345626460951,
+            "uses_end_effector_tilt_evidence": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 2.983504623107863e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
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+                "gripper",
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+                "joint1",
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+                "left_inner_finger",
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+                "panda_joint3",
+                "panda_joint4",
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+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "ridgebase_festo",
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+                "ridgebase_rizon4",
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+                "ur5e",
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+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+                "floor",
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+                "groundplane",
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ea4ef7d1b8fe6128c82419e19a966a525b308ac2cb5ef36ee02edb7a9881015e",
+    "visual_seed": 6944863752960067426,
+    "episode_index": 110,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_112_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_112_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f85044b6fc96fe6b258ae3850f88b75150e6aa9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_112_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 112,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+                "Robotiq2F85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
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+                "desk",
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+                "table",
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+                "workbench"
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+            "source_missing": false,
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+      "skill": "pour",
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+      "reason": "executed",
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+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37261361899199197,
+              -0.05486522783670898,
+              1.0456978792275275
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3630261867882667,
+              -0.031363168490742346,
+              1.0456978792275275
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.36781990289012934,
+              -0.043114198163725664,
+              1.0456978792275275
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37261361899199197,
+              -0.031363168490742346,
+              1.0456978792275275
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025382388574804498,
+            "valid_pour_held_grasp_max_gap": 0.12496596336364746,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023677892196917474,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.020093235662439108,
+              -0.999284756987938,
+              0.032034923632991645
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005042819225453748,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04748298168182373,
+            "valid_pour_held_grasp_object_top_z": 0.04520076885819435,
+            "valid_pour_held_grasp_top_clearance": 0.033554465294402716,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560230657458304,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37261361899199197,
+              -0.05486522783670898,
+              1.0456978792275275
+            ],
+            "held_grasp_finger_b": [
+              0.3630261867882667,
+              -0.031363168490742346,
+              1.0456978792275275
+            ],
+            "held_grasp_midpoint": [
+              0.36781990289012934,
+              -0.043114198163725664,
+              1.0456978792275275
+            ],
+            "held_grasp_object_position": [
+              0.37261361899199197,
+              -0.031363168490742346,
+              1.0456978792275275
+            ],
+            "held_grasp_finger_gap": 0.025382388574804498,
+            "held_grasp_max_gap": 0.12496596336364746,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023677892196917474,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.020093235662439108,
+              -0.999284756987938,
+              0.032034923632991645
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005042819225453748,
+            "held_grasp_line_xy_max_dist": 0.04748298168182373,
+            "held_grasp_object_top_z": 0.04520076885819435,
+            "held_grasp_top_clearance": 0.033554465294402716,
+            "held_grasp_min_top_clearance": 0.013560230657458304,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.22815543834370336,
+              -0.11866514304557099,
+              0.7565865506461716
+            ],
+            "target_position": [
+              0.24745069282190363,
+              -0.14140083452867575,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.029819767145191283,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20625282494101022,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865506461716,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0850972596740897,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08783463913784222,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18432014968759,
+            "release_required_pad_clearance": 0.05391731956892111,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8443306284765595,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 195,
+            "max_placed_release_frames": 195
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 112,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "948291c501edf48a5d1b018646aae761e7cda3621dbd3e93433aac4478c4ae8f",
+    "visual_seed": 2130948534272940587,
+    "episode_index": 112,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_114_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_114_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d975878b628899c19464d6554f06f987a24ca29f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_114_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 114,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27324322773850335,
+              -0.1328307475420888,
+              1.0004046037138776
+            ],
+            "current_z": 1.0004046037138776,
+            "required_z": 0.8565865918349908,
+            "initial_z": 0.7565865918349908,
+            "lift_margin": 0.14381801187888688,
+            "gripper_z": 1.001705542376448,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26968978218252715,
+              -0.1368233436635824,
+              1.001705542376448
+            ],
+            "object_minus_gripper": [
+              0.003553445555976198,
+              0.003992596121493608,
+              -0.0013009386625704167
+            ],
+            "object_to_gripper_xy": 0.00534488532231074,
+            "object_to_gripper_z": -0.0013009386625704167,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27324322773850335,
+              -0.15620589790226863,
+              1.0004046037138776
+            ],
+            "finger_b": [
+              0.26280996857349936,
+              -0.1328307475420888,
+              1.0004046037138776
+            ],
+            "finger_midpoint": [
+              0.2680265981560014,
+              -0.1445183227221787,
+              1.0004046037138776
+            ],
+            "object_minus_finger_midpoint": [
+              0.005216629582501964,
+              0.01168757518008992,
+              0.0
+            ],
+            "finger_gap": 0.02559786223818613,
+            "fingertip_max_gap": 0.09317690190283803,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012798931119093053,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0004046037138776,
+            "object_top_z": 1.0457381088457613,
+            "finger_top_clearance": 0.04533350513188372,
+            "fingertip_min_top_clearance": 0.0136000515395651,
+            "object_projection_between_fingers": 0.8338759172188727,
+            "object_to_finger_line_xy": 0.009527319096392386,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04908845095141902,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.9173494479206488,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 163,
+            "max_stable_success_frames": 163,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
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+                "shoulder_pan_joint",
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
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+              -0.13650229203982261,
+              0.756586297217683
+            ],
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+              -0.13552806603610631,
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+            "xy_threshold": 0.08,
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.859566918484355,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 201,
+            "max_placed_release_frames": 201
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 114,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f953693fbcf1dfcedd0d50276f683b1568f8ee54db11f7a02fb0bb681565a2bb",
+    "visual_seed": 9063324685270944181,
+    "episode_index": 114,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_115_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_115_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..16f917654fe4d354e8994da1ebcb2546010952a6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_115_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 115,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+      "target": "beaker_b",
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+          "skill": "pick",
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+    {
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+      "skill": "pour",
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+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "metrics": {
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
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+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_116_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_116_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff84538921299ef838d0357b302c2062e730c6d1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_116_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 116,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "passed": true,
+          "metrics": {
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+              0.9971290257807974
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+              -0.1376365461161877,
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+              0.004138509232754745,
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+            "object_to_gripper_xy": 0.005658833263509568,
+            "object_to_gripper_z": -0.0013156775400086085,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.15712810409586736,
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+              -0.13349803688343295,
+              0.9971290257807974
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+              -0.14531307048965014,
+              0.9971290257807974
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+              0.01181503360621719,
+              0.0
+            ],
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+            "object_position_origin": "center",
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 160,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+            },
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+          }
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7701463301919669
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+              -0.037853871539666656,
+              1.0459611894835803
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+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+            "valid_pour_held_grasp_max_gap": 0.12496603041887283,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02386399499636872,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.02807739818519868,
+              -0.9991708048863287,
+              0.02948495165259512
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005431818528521207,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.047483015209436416,
+            "valid_pour_held_grasp_object_top_z": 0.04520074650645256,
+            "valid_pour_held_grasp_top_clearance": 0.03355466278261118,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560223951935768,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37339192263778714,
+              -0.05741685907561038,
+              1.0445279850407354
+            ],
+            "held_grasp_finger_b": [
+              0.3632088646330143,
+              -0.03381921079893949,
+              1.0445279850407354
+            ],
+            "held_grasp_midpoint": [
+              0.3683003936354007,
+              -0.04561803493727494,
+              1.0445279850407354
+            ],
+            "held_grasp_object_position": [
+              0.37339192263778714,
+              -0.03381921079893949,
+              1.0445279850407354
+            ],
+            "held_grasp_finger_gap": 0.025701044230109354,
+            "held_grasp_max_gap": 0.12496603041887283,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02386399499636872,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.02807739818519868,
+              -0.9991708048863287,
+              0.02948495165259512
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005431818528521207,
+            "held_grasp_line_xy_max_dist": 0.047483015209436416,
+            "held_grasp_object_top_z": 0.04520074650645256,
+            "held_grasp_top_clearance": 0.03355466278261118,
+            "held_grasp_min_top_clearance": 0.013560223951935768,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25572285156148605,
+              -0.13482556386520614,
+              0.7565863417390915
+            ],
+            "target_position": [
+              0.24955858745245077,
+              -0.1359478410604157,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.006265593196883115,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2202572350453615,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863417390915,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756774947702653,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0850792770177314,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.19088942484745644,
+            "release_required_pad_clearance": 0.0525396385088657,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.14803748913448841,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 202,
+            "max_placed_release_frames": 202
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 116,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "44d24ddcb74aa8194c05147cfc0fde31122e9ad61fb8ed0ccece8f8ff2db6e9d",
+    "visual_seed": 6345101546630843050,
+    "episode_index": 116,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_117_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_117_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..36b3448edec5713e44bd2df899a82d5b94d6138f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_117_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 117,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27146841359890345,
+              -0.13251880303744576,
+              0.9994765122728798
+            ],
+            "current_z": 0.9994765122728798,
+            "required_z": 0.8565865947015443,
+            "initial_z": 0.7565865947015443,
+            "lift_margin": 0.1428899175713355,
+            "gripper_z": 1.0010565289695514,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2678233078538219,
+              -0.13655228107168027,
+              1.0010565289695514
+            ],
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+              0.003645105745081534,
+              0.004033478034234511,
+              -0.0015800166966716267
+            ],
+            "object_to_gripper_xy": 0.005436519193884879,
+            "object_to_gripper_z": -0.0015800166966716267,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27146841359890345,
+              -0.15597215241207854,
+              0.9994765122728798
+            ],
+            "finger_b": [
+              0.26100068589228953,
+              -0.13251880303744576,
+              0.9994765122728798
+            ],
+            "finger_midpoint": [
+              0.26623454974559646,
+              -0.14424547772476215,
+              0.9994765122728798
+            ],
+            "object_minus_finger_midpoint": [
+              0.005233863853306986,
+              0.01172667468731639,
+              0.0
+            ],
+            "finger_gap": 0.025683319883309488,
+            "fingertip_max_gap": 0.09372706175354689,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012841659941654756,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9994765122728798,
+            "object_top_z": 1.045028839001044,
+            "finger_top_clearance": 0.04555232672816423,
+            "fingertip_min_top_clearance": 0.013665698018449234,
+            "object_projection_between_fingers": 0.8338874243846527,
+            "object_to_finger_line_xy": 0.009558860621491623,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04936353087677345,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.2066526341098065,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 162,
+            "max_stable_success_frames": 162,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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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+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2305641151390761,
+              -0.10774421003534712,
+              0.7565865914262927
+            ],
+            "target_position": [
+              0.2503786972015698,
+              -0.1344280962563684,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.033236236943548624,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2031257116144439,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865914262927,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08794842338059425,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08631629576996387,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18256369218085264,
+            "release_required_pad_clearance": 0.05315814788498194,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3405440483443845,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 191,
+            "max_placed_release_frames": 191
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 117,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "28c214b64d7c3b188eb6321c5a0eeff81dce6415b3782791e5448b6fc049e25e",
+    "visual_seed": 2510632533255486628,
+    "episode_index": 117,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_119_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_119_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..021dd3967717202ec51b878fd821820925ad18bc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_119_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 119,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.267949239032298,
+              -0.1356783563455269,
+              0.9994500012196321
+            ],
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+            "lift_margin": 0.14286344455095812,
+            "gripper_z": 1.000647457947339,
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+            "gripper_position": [
+              0.26422535066968855,
+              -0.13970525250696908,
+              1.000647457947339
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+              0.004026896161442167,
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+            "object_to_gripper_z": -0.0011974567277068804,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.15931689879063457,
+              0.9994500012196321
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+              0.9994500012196321
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+            "finger_midpoint": [
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+              -0.14749762756808074,
+              0.9994500012196321
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+              0.011819271222553829,
+              0.0
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+            "object_projection_between_fingers": 0.8402543661443811,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04911338998661602,
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 163,
+            "max_stable_success_frames": 163,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+          }
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+      },
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.033531979481842014,
+              1.0471916348705361
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+              0.003942002793965359,
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+            "gripper_z": 1.0471916348705361,
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+            "missing_active_wrist_index": false,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_tilt_deg": 2.072371321768646,
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+            "max_source_upright_tilt_deg": 89.87736413505206,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 3.0095556065545465e-08,
+            "max_target_xy_drift": 1.5417889814026005e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3715,
+                -0.0067,
+                0.7701
+              ],
+              "controller_target_position": [
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+                -0.0067,
+                0.7701
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+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
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+              "pour_pose_offset": [
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+              "source_size": [
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+                0.2
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+                  -0.0007135348206377885,
+                  0.001842362811376104,
+                  -0.0009241080470335681
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+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
+              "source_return_upright_error_deg": 3.0184754626855326,
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+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 3.016835640415249,
+              "source_return_best_wrist_position": -1.6085432767868042,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6085432767868042
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3715,
+              -0.0067,
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+            ],
+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+              0.0,
+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              -0.0007,
+              0.0018,
+              -0.0009
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+            "pour_controller_controller_last_pour_pose_position": [
+              0.3708,
+              -0.0305,
+              1.0349
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.0685,
+              0.0659,
+              0.0932
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.0007135348206377885,
+                0.001842362811376104,
+                -0.0009241080470335681
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 3.0184754626855326,
+            "pour_controller_source_return_step_error_deg": 2.072360903957456,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.016835640415249,
+            "pour_controller_source_return_best_wrist_position": -1.6085432767868042,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6085432767868042,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.028270405373325144,
+            "valid_pour_held_xy_dist": 0.02347016694632896,
+            "valid_pour_held_gripper_dist": 0.005615105345845259,
+            "valid_pour_required_height": 0.8001464494012563,
+            "valid_pour_held_z": 1.0458881688026762,
+            "valid_pour_source_tilt_deg": 2.072371321768646,
+            "valid_pour_source_upright_tilt_deg": 3.018472743713754,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.0095556065545465e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.36655685397112,
+              -0.05301059656947853,
+              1.0458881688026762
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.35663341014495614,
+              -0.029589976687876655,
+              1.0458881688026762
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.36159513205803806,
+              -0.04130028662867759,
+              1.0458881688026762
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.36655685397112,
+              -0.029589976687876655,
+              1.0458881688026762
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025436198084806502,
+            "valid_pour_held_grasp_max_gap": 0.1249661123752594,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02378178537925178,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.039669578522540605,
+              -0.9986126184281038,
+              0.03462893091059327
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0054372471824606795,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.0474830561876297,
+            "valid_pour_held_grasp_object_top_z": 0.04520078003406525,
+            "valid_pour_held_grasp_top_clearance": 0.033703546178515384,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560234010219574,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36655685397112,
+              -0.05301059656947853,
+              1.0458881688026762
+            ],
+            "held_grasp_finger_b": [
+              0.35663341014495614,
+              -0.029589976687876655,
+              1.0458881688026762
+            ],
+            "held_grasp_midpoint": [
+              0.36159513205803806,
+              -0.04130028662867759,
+              1.0458881688026762
+            ],
+            "held_grasp_object_position": [
+              0.36655685397112,
+              -0.029589976687876655,
+              1.0458881688026762
+            ],
+            "held_grasp_finger_gap": 0.025436198084806502,
+            "held_grasp_max_gap": 0.1249661123752594,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02378178537925178,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.039669578522540605,
+              -0.9986126184281038,
+              0.03462893091059327
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0054372471824606795,
+            "held_grasp_line_xy_max_dist": 0.0474830561876297,
+            "held_grasp_object_top_z": 0.04520078003406525,
+            "held_grasp_top_clearance": 0.033703546178515384,
+            "held_grasp_min_top_clearance": 0.013560234010219574,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.252617160380168,
+              -0.14416427713485538,
+              0.7565864693324282
+            ],
+            "target_position": [
+              0.24660244087474995,
+              -0.13721996711058507,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.009186963178441384,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.22005243170636954,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864693324282,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756278499278969,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08556011663750755,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18880249827862322,
+            "release_required_pad_clearance": 0.05278005831875378,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6078047029801754,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 203,
+            "max_placed_release_frames": 203
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 119,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1d489575252c28a2f27ec118db8ac90919b90d231d126b5ff2f81bc177a1e5ae",
+    "visual_seed": 5983276153493197157,
+    "episode_index": 119,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_11_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b091f5faf760d889d6c5c9081915f4f398c43b8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_11_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 3,
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+  "step_accuracy": "3/3",
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+            "valid_pour_held_grasp_top_clearance": 0.03353825846558933,
+            "valid_pour_held_grasp_min_top_clearance": 0.01356021836400032,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3691824830486329,
+              -0.05466985175573475,
+              1.0437073252275944
+            ],
+            "held_grasp_finger_b": [
+              0.35913295221762104,
+              -0.031008247847283864,
+              1.0437073252275944
+            ],
+            "held_grasp_midpoint": [
+              0.364157717633127,
+              -0.04283904980150931,
+              1.0437073252275944
+            ],
+            "held_grasp_object_position": [
+              0.3691824830486329,
+              -0.031008247847283864,
+              1.0437073252275944
+            ],
+            "held_grasp_finger_gap": 0.025707286310380485,
+            "held_grasp_max_gap": 0.12496595591306686,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023953443021151138,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.031270325097573944,
+              -0.9990527698988496,
+              0.030261026514784573
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005403975344029595,
+            "held_grasp_line_xy_max_dist": 0.04748297795653343,
+            "held_grasp_object_top_z": 0.04520072788000107,
+            "held_grasp_top_clearance": 0.03353825846558933,
+            "held_grasp_min_top_clearance": 0.01356021836400032,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.23315278977608825,
+              -0.12462823540524973,
+              0.7565882055352642
+            ],
+            "target_position": [
+              0.24607307096127676,
+              -0.13710913255607104,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.017964032386792114,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20990505965545994,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565882055352642,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0775708091605124,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09079054958627926,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18532444601113884,
+            "release_required_pad_clearance": 0.05539527479313963,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.910907963122289,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 200,
+            "max_placed_release_frames": 200
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f52090c9918bd121d5eb9e0d7c82b3360f7a3fa0ae5803765ab88a14f029033a",
+    "visual_seed": 323656148903459134,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_120_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_120_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfbf7f0b28b13fb4243fb3d520c2d0c45afef6a3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_120_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 120,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.27117589914898704,
+              -0.138479537544045,
+              0.999349292324579
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+            "current_z": 0.999349292324579,
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+            "lift_margin": 0.14276271133638097,
+            "gripper_z": 1.0006177886122563,
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+            "gripper_position": [
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+              -0.14250536818166934,
+              1.0006177886122563
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+              0.0036866127900451184,
+              0.00402583063762435,
+              -0.0012684962876772232
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+            "object_to_gripper_z": -0.0012684962876772232,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.27117589914898704,
+              -0.16205438609783884,
+              0.999349292324579
+            ],
+            "finger_b": [
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+              -0.138479537544045,
+              0.999349292324579
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+              0.2659973740013364,
+              -0.1502669618209419,
+              0.999349292324579
+            ],
+            "object_minus_finger_midpoint": [
+              0.005178525147650659,
+              0.011787424276896913,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_min_top_clearance": 0.013645364183725655,
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+            "object_to_finger_line_xy": 0.009482317331822475,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04909674283591946,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.6878998784004517,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 162,
+            "max_stable_success_frames": 162,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08562650571975886,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0935185652090154,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18507058073606675,
+            "release_required_pad_clearance": 0.0567592826045077,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.960341651776819,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 194,
+            "max_placed_release_frames": 194
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 120,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fe4f6fbcc355d0b5c60588f1c351f35ff4ef63d9a5b714896911676a1a34f348",
+    "visual_seed": 5268731522618957728,
+    "episode_index": 120,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_121_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_121_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf6f2352bd8eda0272e6e4abd80338f6afe98a67
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_121_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 121,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27223095789157686,
+              -0.13520403096804134,
+              0.9982250685990408
+            ],
+            "current_z": 0.9982250685990408,
+            "required_z": 0.8565865341461786,
+            "initial_z": 0.7565865341461786,
+            "lift_margin": 0.14163853445286223,
+            "gripper_z": 1.0000463943080882,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26856111967851537,
+              -0.1392104480140483,
+              1.0000463943080882
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+              0.0036698382130614937,
+              0.00400641704600696,
+              -0.0018213257090473611
+            ],
+            "object_to_gripper_xy": 0.005433147343536848,
+            "object_to_gripper_z": -0.0018213257090473611,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27223095789157686,
+              -0.15885749140325994,
+              0.9982250685990408
+            ],
+            "finger_b": [
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+              -0.13520403096804134,
+              0.9982250685990408
+            ],
+            "finger_midpoint": [
+              0.26715471938623636,
+              -0.14703076118565064,
+              0.9982250685990408
+            ],
+            "object_minus_finger_midpoint": [
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+              0.0118267302176093,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.009329415344528781,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04915828622004845,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.8377503737923733,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 162,
+            "max_stable_success_frames": 162,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.007993570671744572,
+              0.7701463897966117
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+              1.0468402240595573
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+              0.0038938677675297295,
+              -0.0019424244073342756
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+            "missing_held_position_samples": 0,
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+            "gripper_z": 1.0468402240595573,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.69100674744524,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 1.9574141163040246,
+            "max_source_tilt_deg": 89.78225067680262,
+            "source_upright_tilt_deg": 2.4353983458048,
+            "max_source_upright_tilt_deg": 89.84026656201301,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.9574141163040246,
+            "source_upright_return_tilt_deg": 2.4353983458048,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.301187962038292e-07,
+            "max_target_xy_drift": 1.519626234052415e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3733,
+                -0.008,
+                0.7701
+              ],
+              "controller_target_position": [
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+                -0.008,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+                "position_threshold_m": 0.015,
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
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+            "pour_controller_controller_t": 0.0,
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+              0.2
+            ],
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+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "tilt_strategy": "wrist_velocity",
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+                0.0,
+                0.0
+              ],
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+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
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+              "approach_xy_threshold_m": 0.08,
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+                0.0010360201207647184,
+                0.0019907316808828795
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+              "use_preinterpolated_cartesian_targets": false
+            },
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+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
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+            "pour_controller_source_return_best_wrist_position": -1.6088989973068237,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6088989973068237,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.030425874810933486,
+            "valid_pour_held_xy_dist": 0.025737484759003768,
+            "valid_pour_held_gripper_dist": 0.005731722393896443,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.044897799652223,
+            "valid_pour_source_tilt_deg": 1.9574141163040246,
+            "valid_pour_source_upright_tilt_deg": 2.4353983458048,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.301187962038292e-07,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3682355584986904,
+              -0.05677632777711389,
+              1.044897799652223
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.35845012789354325,
+              -0.03323020030633965,
+              1.044897799652223
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3633428431961168,
+              -0.04500326404172677,
+              1.044897799652223
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3682355584986904,
+              -0.03323020030633965,
+              1.044897799652223
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025498524878865045,
+            "valid_pour_held_grasp_max_gap": 0.12496600806713104,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023863601081050102,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.034616879684966496,
+              -0.9990967744621913,
+              0.024643597548284595
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0053051545645132585,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04748300403356552,
+            "valid_pour_held_grasp_object_top_z": 0.04520072042942047,
+            "valid_pour_held_grasp_top_clearance": 0.033607660962819384,
+            "valid_pour_held_grasp_min_top_clearance": 0.01356021612882614,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3682355584986904,
+              -0.05677632777711389,
+              1.044897799652223
+            ],
+            "held_grasp_finger_b": [
+              0.35845012789354325,
+              -0.03323020030633965,
+              1.044897799652223
+            ],
+            "held_grasp_midpoint": [
+              0.3633428431961168,
+              -0.04500326404172677,
+              1.044897799652223
+            ],
+            "held_grasp_object_position": [
+              0.3682355584986904,
+              -0.03323020030633965,
+              1.044897799652223
+            ],
+            "held_grasp_finger_gap": 0.025498524878865045,
+            "held_grasp_max_gap": 0.12496600806713104,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023863601081050102,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.034616879684966496,
+              -0.9990967744621913,
+              0.024643597548284595
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0053051545645132585,
+            "held_grasp_line_xy_max_dist": 0.04748300403356552,
+            "held_grasp_object_top_z": 0.04520072042942047,
+            "held_grasp_top_clearance": 0.033607660962819384,
+            "held_grasp_min_top_clearance": 0.01356021612882614,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24375561571821072,
+              -0.13572728644046475,
+              0.7565863399545762
+            ],
+            "target_position": [
+              0.25118135359452587,
+              -0.13743967779461194,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.007620621179241194,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21269150649258284,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863399545762,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543225506306678,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08944755754272808,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18481506245858653,
+            "release_required_pad_clearance": 0.05472377877136404,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.494842963412596,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 236,
+            "max_placed_release_frames": 236
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 121,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "23673bef6a826ed87a78ba616b55157f90d80eb3d48bfa47922632b051d5cdc6",
+    "visual_seed": 3940622435331182403,
+    "episode_index": 121,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_122_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_122_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2d681f04ac01c7bd69c40397def244def1e4ec9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_122_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 122,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.268093203562475,
+              -0.13087594439562408,
+              1.0001555793312729
+            ],
+            "current_z": 1.0001555793312729,
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+              0.36736052896607196,
+              -0.03586321934356243,
+              1.0444245144243627
+            ],
+            "held_grasp_finger_gap": 0.0256336235775404,
+            "held_grasp_max_gap": 0.12496582925319671,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02381034727413869,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.0021032834137468207,
+              -0.9996819681142408,
+              0.025130436250080372
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004797307782141924,
+            "held_grasp_line_xy_max_dist": 0.04748291462659836,
+            "held_grasp_object_top_z": 0.045200709253549576,
+            "held_grasp_top_clearance": 0.03331557137163338,
+            "held_grasp_min_top_clearance": 0.013560212776064872,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24394025178766673,
+              -0.1422391933140968,
+              0.7565863374045362
+            ],
+            "target_position": [
+              0.2463455290969503,
+              -0.13426585155825213,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.008328237369939111,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21358994647854584,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863374045362,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520894812786873,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0885138815139211,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1838439698250954,
+            "release_required_pad_clearance": 0.05425694075696055,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.5327143410433157,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 241,
+            "max_placed_release_frames": 241
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 122,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d1d09537fb6ee752798f29912c34802edfb5e2723cb85f748e2b2936a77350ef",
+    "visual_seed": 5682720405161076170,
+    "episode_index": 122,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_123_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_123_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..22c05223aec2c4b1320ef1bc48eafb7096ab9d96
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_123_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 123,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              -0.13728708024023534,
+              0.9963738592797986
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+              -0.1608869993494884,
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+              -0.14908703979486188,
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+              0.011799959554626538,
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+              0.0,
+              1.0
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+            "stable_success_frames": 160,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3755997232205097,
+              -0.004071212050832733,
+              0.7701464494012566
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+              -0.033654498568127564,
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+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 200,
+            "max_placed_release_frames": 200
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 123,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6e455d6ef8cdb062bb1de7da345d6edaf458fb39e3bba82990e423b310ddd540",
+    "visual_seed": 5071147523271812104,
+    "episode_index": 123,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_12_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d7ca65df6024177e2c160bb011733d0b8580be2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_12_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.27391701477065616,
+              -0.1356009752067786,
+              0.9998632871504518
+            ],
+            "current_z": 0.9998632871504518,
+            "required_z": 0.8565866618944086,
+            "initial_z": 0.7565866618944086,
+            "lift_margin": 0.14327662525604323,
+            "gripper_z": 1.001143315506209,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2703127308487409,
+              -0.1396664997956163,
+              1.001143315506209
+            ],
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+              0.0036042839219152523,
+              0.004065524588837688,
+              -0.0012800283557572456
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+            "object_to_gripper_xy": 0.005433171520596478,
+            "object_to_gripper_z": -0.0012800283557572456,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.27391701477065616,
+              -0.1589302497424471,
+              0.9998632871504518
+            ],
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+              -0.1356009752067786,
+              0.9998632871504518
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+            "finger_midpoint": [
+              0.26858458761516835,
+              -0.14726561247461284,
+              0.9998632871504518
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011664637267834232,
+              0.0
+            ],
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+            "object_to_finger_line_xy": 0.009699406006800491,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04899894390741377,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 163,
+            "max_stable_success_frames": 163,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.0015455211078300305,
+              0.7701465090059014
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+              1.0484528947167269
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+              0.003926784495596705,
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "source_upright_axis_local": [
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+            "max_source_tilt_deg": 89.7709185465247,
+            "source_upright_tilt_deg": 2.3061574984546396,
+            "max_source_upright_tilt_deg": 89.75259830521416,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.9942919512151227,
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+            "target_xy_drift": 8.34745753642297e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+                -0.0015,
+                0.7701
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+              "controller_target_position": [
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+              "lock_target_position": true,
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+              "pour_pose_offset": [
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+              "wrist_joint_name": "wrist_3_joint",
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+                "approach_height_range_m": [
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+              1.0359
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.0667,
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+            "pour_controller_height_range_2": [
+              0.2,
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+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                0.0017876963282431406,
+                -0.00011530033940073824
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+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 2.3061625015800353,
+            "pour_controller_source_return_step_error_deg": 1.9942915238491534,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.304404768936212,
+            "pour_controller_source_return_best_wrist_position": -1.6084991693496704,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6084991693496704,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.028583794973108666,
+            "valid_pour_held_xy_dist": 0.02378684501594882,
+            "valid_pour_held_gripper_dist": 0.005582728150382459,
+            "valid_pour_required_height": 0.8001465090059015,
+            "valid_pour_held_z": 1.0470713790745403,
+            "valid_pour_source_tilt_deg": 1.9942919512151227,
+            "valid_pour_source_upright_tilt_deg": 2.3061574984546396,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 8.34745753642297e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.36996065118326865,
+              -0.0480667870087977,
+              1.0470713790745403
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.36003412965747533,
+              -0.02471750282327631,
+              1.0470713790745403
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.364997390420372,
+              -0.036392144916037004,
+              1.0470713790745403
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.36996065118326865,
+              -0.02471750282327631,
+              1.0470713790745403
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025371734303714387,
+            "valid_pour_held_grasp_max_gap": 0.12496604532003402,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023531880671950903,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.020299901161571692,
+              -0.9991900856886212,
+              0.034743152913866315
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005214893709294703,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04748302266001701,
+            "valid_pour_held_grasp_object_top_z": 0.04520077630877495,
+            "valid_pour_held_grasp_top_clearance": 0.03363634337865132,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560232892632484,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36996065118326865,
+              -0.0480667870087977,
+              1.0470713790745403
+            ],
+            "held_grasp_finger_b": [
+              0.36003412965747533,
+              -0.02471750282327631,
+              1.0470713790745403
+            ],
+            "held_grasp_midpoint": [
+              0.364997390420372,
+              -0.036392144916037004,
+              1.0470713790745403
+            ],
+            "held_grasp_object_position": [
+              0.36996065118326865,
+              -0.02471750282327631,
+              1.0470713790745403
+            ],
+            "held_grasp_finger_gap": 0.025371734303714387,
+            "held_grasp_max_gap": 0.12496604532003402,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023531880671950903,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.020299901161571692,
+              -0.9991900856886212,
+              0.034743152913866315
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005214893709294703,
+            "held_grasp_line_xy_max_dist": 0.04748302266001701,
+            "held_grasp_object_top_z": 0.04520077630877495,
+            "held_grasp_top_clearance": 0.03363634337865132,
+            "held_grasp_min_top_clearance": 0.013560232892632484,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2542092005481587,
+              -0.13207870571816652,
+              0.7565910647439824
+            ],
+            "target_position": [
+              0.25257141962394497,
+              -0.13732774313504634,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.005498610748136549,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21815216107280228,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565910647439824,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568632691964904,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08845366298226674,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18979181406256335,
+            "release_required_pad_clearance": 0.05422683149113337,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.4601689902100263,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 236,
+            "max_placed_release_frames": 236
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "86ef735198e7b333923d7541325db34fdb916173fa688d98b8abbe2d13ece319",
+    "visual_seed": 5829675939893948450,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_14_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fb54f71c5a1bc93a438387bdf50d1d8b97ee4c3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_14_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27095282634526585,
+              -0.13689249202636414,
+              0.9996863814523671
+            ],
+            "current_z": 0.9996863814523671,
+            "required_z": 0.8565866388904314,
+            "initial_z": 0.7565866388904314,
+            "lift_margin": 0.1430997425619357,
+            "gripper_z": 1.001615707803784,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.267229208139882,
+              -0.14089322571624913,
+              1.001615707803784
+            ],
+            "object_minus_gripper": [
+              0.0037236182053838607,
+              0.004000733689884989,
+              -0.001929326351416849
+            ],
+            "object_to_gripper_xy": 0.005465455387874544,
+            "object_to_gripper_z": -0.001929326351416849,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27095282634526585,
+              -0.16066899687275907,
+              0.9996863814523671
+            ],
+            "finger_b": [
+              0.26092796250845773,
+              -0.13689249202636414,
+              0.9996863814523671
+            ],
+            "finger_midpoint": [
+              0.2659403944268618,
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+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24644435119192817,
+              -0.13782890148989962,
+              0.7565863141745559
+            ],
+            "target_position": [
+              0.24995656233177752,
+              -0.13903316296222287,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0037129331780418524,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21154617573005402,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863141745559,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541759030800924,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0862553057220881,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1834475353745484,
+            "release_required_pad_clearance": 0.05312765286104405,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.281438254281009,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 238,
+            "max_placed_release_frames": 238
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "78956937966f71b766b996ed967d2a74c0f0a2733aefb0cfcabc3144f7d6e009",
+    "visual_seed": 732744459711413943,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_15_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b59e13624832d5d8d2785a23a5e813fb95246dc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_15_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+      "skill": "pick",
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+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              -0.13915896742490008,
+              0.9992259360396218
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+              -0.16254717923794926,
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+              -0.13915896742490008,
+              0.9992259360396218
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+              -0.15085307333142467,
+              0.9992259360396218
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+            "object_upright_reference_source": "scene_initial",
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
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+            "stable_success_frames": 161,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+            "xy_dist": 0.0311090240487227,
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+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
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+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a0da7d8835db297e8597268e7404788efd8784e9fe4dd8bb72f32b41d0aeaf6e",
+    "visual_seed": 5582837618682230356,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_16_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a52d67f732614cfd47a51ea82a2dd0786026268
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_16_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2723527258240707,
+              -0.13745136636773767,
+              0.9963509772172705
+            ],
+            "current_z": 0.9963509772172705,
+            "required_z": 0.8565865122238603,
+            "initial_z": 0.7565865122238603,
+            "lift_margin": 0.13976446499341022,
+            "gripper_z": 0.9978331288797053,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2687421138344818,
+              -0.1414369381510164,
+              0.9978331288797053
+            ],
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+              0.0036106119895888966,
+              0.003985571783278741,
+              -0.0014821516624348163
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+            "object_to_gripper_xy": 0.00537785285955564,
+            "object_to_gripper_z": -0.0014821516624348163,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2723527258240707,
+              -0.16095669398190227,
+              0.9963509772172705
+            ],
+            "finger_b": [
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+              -0.13745136636773767,
+              0.9963509772172705
+            ],
+            "finger_midpoint": [
+              0.26720204624850397,
+              -0.14920403017481998,
+              0.9963509772172705
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011752663807082314,
+              0.0
+            ],
+            "finger_gap": 0.02566356223539222,
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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": 0.009435043330993119,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04915115527228839,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 160,
+            "max_stable_success_frames": 160,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.008808228330083113,
+              0.7701464494012566
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+              -0.037736594136676044,
+              1.0479338530223279
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+              0.003883240296819024,
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+            "missing_held_position_samples": 0,
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+            "gripper_z": 1.0479338530223279,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.6220491575848,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "max_source_tilt_deg": 89.89489332769273,
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+            "max_source_upright_tilt_deg": 89.8878013948649,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 4.9919237506603436e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              1.0
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+            "target_start_tilt_deg": 0.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.7701
+              ],
+              "controller_target_position": [
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+                -0.0088,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
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+              "controller_last_pour_pose_position": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_source_size": [
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+              0.0925
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
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+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
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+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.0014211652234184312,
+                -0.0001604097488362166,
+                0.0014640239132751184
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 2.440991480051174,
+            "pour_controller_source_return_step_error_deg": 1.7629395501899343,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.4446691804631686,
+            "pour_controller_source_return_best_wrist_position": -1.6078121662139893,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6078121662139893,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.030736260858051288,
+            "valid_pour_held_xy_dist": 0.02592851885150481,
+            "valid_pour_held_gripper_dist": 0.005578874830342117,
+            "valid_pour_required_height": 0.8001464494012567,
+            "valid_pour_held_z": 1.0463416864892905,
+            "valid_pour_source_tilt_deg": 1.7630097442523898,
+            "valid_pour_source_upright_tilt_deg": 2.4413030900502375,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 4.9919237506603436e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37291192820049857,
+              -0.05728523454058397,
+              1.0463416864892905
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3630140154561164,
+              -0.03385335383985702,
+              1.0463416864892905
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3679629718283075,
+              -0.045569294190220495,
+              1.0463416864892905
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37291192820049857,
+              -0.03385335383985702,
+              1.0463416864892905
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02543662143187462,
+            "valid_pour_held_grasp_max_gap": 0.12496590375900268,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02374382203490237,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.03366450523754823,
+              -0.9990923903411658,
+              0.02609782844389441
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005349183852038144,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04748295187950134,
+            "valid_pour_held_grasp_object_top_z": 0.04520069807767868,
+            "valid_pour_held_grasp_top_clearance": 0.033661995395651546,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560209423303604,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37291192820049857,
+              -0.05728523454058397,
+              1.0463416864892905
+            ],
+            "held_grasp_finger_b": [
+              0.3630140154561164,
+              -0.03385335383985702,
+              1.0463416864892905
+            ],
+            "held_grasp_midpoint": [
+              0.3679629718283075,
+              -0.045569294190220495,
+              1.0463416864892905
+            ],
+            "held_grasp_object_position": [
+              0.37291192820049857,
+              -0.03385335383985702,
+              1.0463416864892905
+            ],
+            "held_grasp_finger_gap": 0.02543662143187462,
+            "held_grasp_max_gap": 0.12496590375900268,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02374382203490237,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.03366450523754823,
+              -0.9990923903411658,
+              0.02609782844389441
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005349183852038144,
+            "held_grasp_line_xy_max_dist": 0.04748295187950134,
+            "held_grasp_object_top_z": 0.04520069807767868,
+            "held_grasp_top_clearance": 0.033661995395651546,
+            "held_grasp_min_top_clearance": 0.013560209423303604,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2509265920858711,
+              -0.13967598314508164,
+              0.7565862964749219
+            ],
+            "target_position": [
+              0.25113582959940073,
+              -0.14026762257585054,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0006275488451974158,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21659412646488374,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565862964749219,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518750166860601,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08747211186626018,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1884423526604036,
+            "release_required_pad_clearance": 0.05373605593313009,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4812934852934365,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 201,
+            "max_placed_release_frames": 201
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ff9bd8ea746144182fa9c0876514808aa2d97dc95783f51dab11202475f3672a",
+    "visual_seed": 6237108758406151962,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_17_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab985cd7fee46a3bcd49ae58ffc13cf21bd9b681
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_17_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.26997823728541737,
+              -0.1351922141395801,
+              0.9998017716098405
+            ],
+            "current_z": 0.9998017716098405,
+            "required_z": 0.8565866255644788,
+            "initial_z": 0.7565866255644789,
+            "lift_margin": 0.14321514604536167,
+            "gripper_z": 1.0012726048725884,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26640594566495013,
+              -0.13922051597445356,
+              1.0012726048725884
+            ],
+            "object_minus_gripper": [
+              0.0035722916204672384,
+              0.00402830183487346,
+              -0.0014708332627478837
+            ],
+            "object_to_gripper_xy": 0.005384095383117329,
+            "object_to_gripper_z": -0.0014708332627478837,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26997823728541737,
+              -0.15862267470374247,
+              0.9998017716098405
+            ],
+            "finger_b": [
+              0.2595301504781075,
+              -0.1351922141395801,
+              0.9998017716098405
+            ],
+            "finger_midpoint": [
+              0.26475419388176247,
+              -0.1469074444216613,
+              0.9998017716098405
+            ],
+            "object_minus_finger_midpoint": [
+              0.005224043403654899,
+              0.011715230282081185,
+              0.0
+            ],
+            "finger_gap": 0.025654414828287356,
+            "fingertip_max_gap": 0.09335914002631249,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012827207414143667,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9998017716098405,
+            "object_top_z": 1.045266199824323,
+            "finger_top_clearance": 0.04546442821448238,
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+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.236798580652753,
+              -0.1299492912003987,
+              0.756586381512985
+            ],
+            "target_position": [
+              0.24873229926807178,
+              -0.14016741963657528,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.015710626617923506,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2063528872010051,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756586381512985,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07703227498370055,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09055971158549882,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1808207134215685,
+            "release_required_pad_clearance": 0.05527985579274941,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.66883146796068,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 194,
+            "max_placed_release_frames": 194
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1919ddb2ea7cff657728d09b6e58b33b1a0b231bfa1d367af1cbe2a391777cd3",
+    "visual_seed": 1599057377652083064,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_18_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c750a00947cde370abca1c6c3d82bf9da56720a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_18_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "skill": "pick",
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+              -0.14501919994856952,
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+              0.0,
+              1.0
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+            },
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b8fc1dcaf2a21c770cacb66d4b62657536c2471a66d4f940cdb906e3a144fbe1",
+    "visual_seed": 6333093547293639398,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_19_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..74157fd90c4768e2a58011f9d475745c70c32196
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_19_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2662371417068794,
+              -0.13184875818719008,
+              0.9988343916271385
+            ],
+            "current_z": 0.9988343916271385,
+            "required_z": 0.8565865836583305,
+            "initial_z": 0.7565865836583305,
+            "lift_margin": 0.14224780796880798,
+            "gripper_z": 1.000539728876984,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26261926581251305,
+              -0.13587884123305638,
+              1.000539728876984
+            ],
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+              0.0036178758943663514,
+              0.004030083045866301,
+              -0.001705337249845451
+            ],
+            "object_to_gripper_xy": 0.005415772829764569,
+            "object_to_gripper_z": -0.001705337249845451,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2662371417068794,
+              -0.15527708332987153,
+              0.9988343916271385
+            ],
+            "finger_b": [
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+              -0.13184875818719008,
+              0.9988343916271385
+            ],
+            "finger_midpoint": [
+              0.2609715588315776,
+              -0.1435629207585308,
+              0.9988343916271385
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011714162571340725,
+              0.0
+            ],
+            "finger_gap": 0.025686414133893564,
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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": 1.044257007375433,
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+            "fingertip_min_top_clearance": 0.01362678472448831,
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+            "object_to_finger_line_xy": 0.009605372476302656,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04914335510478553,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.9788739852864743,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
+            "max_stable_success_frames": 161,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.009364199036128744,
+              0.7701464494012565
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+            "gripper_position": [
+              0.3688934161659789,
+              -0.038937105248368756,
+              1.046191667617891
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+              0.2742055199491523
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+              0.0038734769280732093,
+              -0.0018396982674822038
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+            "missing_held_position_samples": 0,
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+            "required_height": 0.8001464494012566,
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+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.83210479531937,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.95504294809173,
+            "source_upright_tilt_deg": 3.328027976816766,
+            "max_source_upright_tilt_deg": 89.67060483431582,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.9210055931786734,
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+            "target_xy_drift": 4.9919237506603436e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+                0.7701
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+              "controller_target_position": [
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+                -0.0094,
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+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
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+            "pour_controller_workflow_step_index": 1,
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_raw_target_position": [
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+            "pour_controller_lock_target_position": true,
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+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_last_pour_pose_position": [
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
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+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                -0.0012322203128279435,
+                0.0016442249468295589
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+              "use_preinterpolated_cartesian_targets": false
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+            "pour_controller_source_pose_feedback_error": null,
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+            "pour_controller_source_return_best_wrist_position": -1.6321355104446411,
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+            "pour_controller_wrist_compensated_return_position": -1.6321355104446411,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.030990722861106646,
+            "valid_pour_held_xy_dist": 0.026290801546699483,
+            "valid_pour_held_gripper_dist": 0.005677929633744634,
+            "valid_pour_required_height": 0.8001464494012566,
+            "valid_pour_held_z": 1.0443519693504089,
+            "valid_pour_source_tilt_deg": 2.9210055931786734,
+            "valid_pour_source_upright_tilt_deg": 3.328027976816766,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 4.9919237506603436e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3726150517873238,
+              -0.05811690419022391,
+              1.0443519693504089
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3627377715019006,
+              -0.035063628320295546,
+              1.0443519693504089
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3676764116446122,
+              -0.04659026625525973,
+              1.0443519693504089
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3726150517873238,
+              -0.035063628320295546,
+              1.0443519693504089
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025080155385719415,
+            "valid_pour_held_grasp_max_gap": 0.12496595591306686,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02334114612644453,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.033080810576900606,
+              -0.9983135506710529,
+              0.04770444966803676
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005345202654555549,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04748297795653343,
+            "valid_pour_held_grasp_object_top_z": 0.04520074278116226,
+            "valid_pour_held_grasp_top_clearance": 0.03385691815607703,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560222834348679,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3726150517873238,
+              -0.05811690419022391,
+              1.0443519693504089
+            ],
+            "held_grasp_finger_b": [
+              0.3627377715019006,
+              -0.035063628320295546,
+              1.0443519693504089
+            ],
+            "held_grasp_midpoint": [
+              0.3676764116446122,
+              -0.04659026625525973,
+              1.0443519693504089
+            ],
+            "held_grasp_object_position": [
+              0.3726150517873238,
+              -0.035063628320295546,
+              1.0443519693504089
+            ],
+            "held_grasp_finger_gap": 0.025080155385719415,
+            "held_grasp_max_gap": 0.12496595591306686,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02334114612644453,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.033080810576900606,
+              -0.9983135506710529,
+              0.04770444966803676
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005345202654555549,
+            "held_grasp_line_xy_max_dist": 0.04748297795653343,
+            "held_grasp_object_top_z": 0.04520074278116226,
+            "held_grasp_top_clearance": 0.03385691815607703,
+            "held_grasp_min_top_clearance": 0.013560222834348679,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25110745864040895,
+              -0.13542628600093773,
+              0.7565863236113759
+            ],
+            "target_position": [
+              0.24454889395676715,
+              -0.13504315629270935,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.006569745739588451,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2217853685903068,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863236113759,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528146866819772,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08609434404548051,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.19252286855046932,
+            "release_required_pad_clearance": 0.05304717202274026,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1246440673762934,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 205,
+            "max_placed_release_frames": 205
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6a4429920f6c1cd08e0f993e9c1ca0c3905491cc133f301e08ee99403507763d",
+    "visual_seed": 1671730873294700770,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_1_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..698debe0e396e8a797220d524d4a154b894cf51d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_1_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.26843616033364925,
+              -0.13214763033585117,
+              0.9991083015556159
+            ],
+            "current_z": 0.9991083015556159,
+            "required_z": 0.8565865626154474,
+            "initial_z": 0.7565865626154474,
+            "lift_margin": 0.1425217389401685,
+            "gripper_z": 1.000318773580855,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26463891234764947,
+              -0.13622656662348284,
+              1.000318773580855
+            ],
+            "object_minus_gripper": [
+              0.0037972479859997854,
+              0.004078936287631674,
+              -0.001210472025239051
+            ],
+            "object_to_gripper_xy": 0.0055728640307958245,
+            "object_to_gripper_z": -0.001210472025239051,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26843616033364925,
+              -0.15580160670873414,
+              0.9991083015556159
+            ],
+            "finger_b": [
+              0.25802409551057526,
+              -0.13214763033585117,
+              0.9991083015556159
+            ],
+            "finger_midpoint": [
+              0.26323012792211226,
+              -0.14397461852229265,
+              0.9991083015556159
+            ],
+            "object_minus_finger_midpoint": [
+              0.005206032411536998,
+              0.011826988186441484,
+              0.0
+            ],
+            "finger_gap": 0.0258441810109897,
+            "fingertip_max_gap": 0.09308932480990628,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01292209050549485,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9991083015556159,
+            "object_top_z": 1.0445222015596107,
+            "finger_top_clearance": 0.04541390000399481,
+            "fingertip_min_top_clearance": 0.013624170001198426,
+            "object_projection_between_fingers": 0.8376889159949769,
+            "object_to_finger_line_xy": 0.009529678468556974,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04904466240495314,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.736412613179672,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 162,
+            "max_stable_success_frames": 162,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2298059846987017,
+              -0.11143011627790123,
+              0.7565863483674251
+            ],
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+              -0.13483207968045133,
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+            "xy_threshold": 0.08,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08650121364596158,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1841743186403692,
+            "release_required_pad_clearance": 0.05432020162775235,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.6619734640668997,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 196,
+            "max_placed_release_frames": 196
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "755adf3e8cae12eb2dbd44d6e18435817b4ceaf3e11a0f697529e6973c54bc15",
+    "visual_seed": 2254185718587184015,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_20_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce5a9047dcc1c6cf5c1de4698004579de366fc2d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_20_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "skill": "pick",
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+          "failed_keys": [],
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+          "failure_messages": {},
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+              "allowed_objects": [
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+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "target_xy_drift": 7.563807262476322e-08,
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+                "wrist_2_joint",
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+                "floor",
+                "ground",
+                "groundplane",
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+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "525ba2689a3f909631afce917afa598218b960d3941e324d4c1716b4327c845c",
+    "visual_seed": 8699571357252145121,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_22_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..73aaadd9fc84b1cf10c2411ecf51d0f4d94d6ad7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_22_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+              0.9975770683719656
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+              1.0
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+            "required_stable_lift_frames": 5
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+          }
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "virtual_attach_allowed": false,
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+            "source_tilt_threshold_deg": 30.0,
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+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
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+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+            "pour_controller_resolved_tilt_axis_world": null,
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_held_gripper_dist": 0.005446672515990349,
+            "valid_pour_required_height": 0.8001465090059016,
+            "valid_pour_held_z": 1.0471550345871723,
+            "valid_pour_source_tilt_deg": 1.8943183114829285,
+            "valid_pour_source_upright_tilt_deg": 2.3096195648440503,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 2.0489096641540527e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37041349724373457,
+              -0.05681111646290488,
+              1.0471550345871723
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3606746416746439,
+              -0.03329039383310452,
+              1.0471550345871723
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.36554406945918927,
+              -0.045050755148004704,
+              1.0471550345871723
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37041349724373457,
+              -0.03329039383310452,
+              1.0471550345871723
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025457213139375864,
+            "valid_pour_held_grasp_max_gap": 0.12496588885784149,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02378715659236331,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.02931977035247608,
+              -0.9991876505446088,
+              0.027647605061253744
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005222154300691853,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.047482944428920745,
+            "valid_pour_held_grasp_object_top_z": 0.04520069435238838,
+            "valid_pour_held_grasp_top_clearance": 0.0335926570649884,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560208305716514,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37041349724373457,
+              -0.05681111646290488,
+              1.0471550345871723
+            ],
+            "held_grasp_finger_b": [
+              0.3606746416746439,
+              -0.03329039383310452,
+              1.0471550345871723
+            ],
+            "held_grasp_midpoint": [
+              0.36554406945918927,
+              -0.045050755148004704,
+              1.0471550345871723
+            ],
+            "held_grasp_object_position": [
+              0.37041349724373457,
+              -0.03329039383310452,
+              1.0471550345871723
+            ],
+            "held_grasp_finger_gap": 0.025457213139375864,
+            "held_grasp_max_gap": 0.12496588885784149,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02378715659236331,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.02931977035247608,
+              -0.9991876505446088,
+              0.027647605061253744
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005222154300691853,
+            "held_grasp_line_xy_max_dist": 0.047482944428920745,
+            "held_grasp_object_top_z": 0.04520069435238838,
+            "held_grasp_top_clearance": 0.0335926570649884,
+            "held_grasp_min_top_clearance": 0.013560208305716514,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2589568145707341,
+              -0.13612112076584046,
+              0.756586268760293
+            ],
+            "target_position": [
+              0.2533924818252464,
+              -0.13392817832466658,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.005980869121859188,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21892791344921128,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756586268760293,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561374200666052,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08535679552246549,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18891575943091188,
+            "release_required_pad_clearance": 0.052678397761232745,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.41306758960359347,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 201,
+            "max_placed_release_frames": 201
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ec33a35f4e7bda7cfdf8a6f7177d56d0502f2a79e1b7a83a04ab5eb28d5d400b",
+    "visual_seed": 5720351257062775743,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_23_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9209193baa15f69c01572d00149c9188b4756a7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_23_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27233249922703195,
+              -0.1346204156514643,
+              0.9971103322294119
+            ],
+            "current_z": 0.9971103322294119,
+            "required_z": 0.8565865305832867,
+            "initial_z": 0.7565865305832867,
+            "lift_margin": 0.1405238016461252,
+            "gripper_z": 0.9985647751508082,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2688334607517495,
+              -0.13858978610103817,
+              0.9985647751508082
+            ],
+            "object_minus_gripper": [
+              0.0034990384752824344,
+              0.003969370449573878,
+              -0.0014544429213962928
+            ],
+            "object_to_gripper_xy": 0.005291424384554423,
+            "object_to_gripper_z": -0.0014544429213962928,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27233249922703195,
+              -0.15795883002510602,
+              0.9971103322294119
+            ],
+            "finger_b": [
+              0.26193019967856224,
+              -0.1346204156514643,
+              0.9971103322294119
+            ],
+            "finger_midpoint": [
+              0.2671313494527971,
+              -0.14628962283828517,
+              0.9971103322294119
+            ],
+            "object_minus_finger_midpoint": [
+              0.005201149774234859,
+              0.011669207186820879,
+              0.0
+            ],
+            "finger_gap": 0.02555170094870203,
+            "fingertip_max_gap": 0.09346637777833669,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012775850474351027,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9971103322294119,
+            "object_top_z": 1.0426150285476794,
+            "finger_top_clearance": 0.04550469631826748,
+            "fingertip_min_top_clearance": 0.013651408895480244,
+            "object_projection_between_fingers": 0.8342631503069557,
+            "object_to_finger_line_xy": 0.009501253078545645,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04923318888916835,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.1181962662629403,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 160,
+            "max_stable_success_frames": 160,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "robotiq_2f85",
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+                "shoulder_pan_joint",
+                "split_aloha",
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+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
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+                "joint1",
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+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
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+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25294478286306776,
+              -0.1366267658491087,
+              0.7565863159066508
+            ],
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+              -0.13698195713633174,
+              0.7730800627579277
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+            "gripper_dist": 0.21674825314892487,
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18825252172409182,
+            "release_required_pad_clearance": 0.052655298469754974,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3690349423030129,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 200,
+            "max_placed_release_frames": 200
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a089b1805a1c82cae255156dbe12323732a66eee6195cb36861d8448d3e8e3bb",
+    "visual_seed": 8324287458009661839,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_24_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dca21efd2eafe8cb81e728df908da620c5481664
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_24_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+          "skill": "pick",
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+          "failed_keys": [],
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+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 1.0490512728936019e-07,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
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+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "841313b44a91b5be780a940f7ccca8a0615f68a4c6a573e2fc6e34122246d93e",
+    "visual_seed": 9005091102519035112,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_25_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e65da3aac4439694778cb44218820d303f59e8cf
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_25_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "target": "beaker_b",
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+              -0.13731931557654173,
+              0.9996511739030507
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+              0.9996511739030507
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+              0.9996511739030507
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+              -0.14915823156306474,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+          }
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
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+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
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+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37223800468273055,
+              -0.05120258707865543,
+              1.0442965963376434
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3622584403748724,
+              -0.027692320185764313,
+              1.0442965963376434
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3672482225288015,
+              -0.039447453632209875,
+              1.0442965963376434
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37223800468273055,
+              -0.027692320185764313,
+              1.0442965963376434
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02554064120474754,
+            "valid_pour_held_grasp_max_gap": 0.12496590375900268,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023938249114528937,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.04595457306295464,
+              -0.998697403324955,
+              0.022173718826434485
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005530738200011689,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04748295187950134,
+            "valid_pour_held_grasp_object_top_z": 0.04520067945122719,
+            "valid_pour_held_grasp_top_clearance": 0.03369016151108464,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560203835368156,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37223800468273055,
+              -0.05120258707865543,
+              1.0442965963376434
+            ],
+            "held_grasp_finger_b": [
+              0.3622584403748724,
+              -0.027692320185764313,
+              1.0442965963376434
+            ],
+            "held_grasp_midpoint": [
+              0.3672482225288015,
+              -0.039447453632209875,
+              1.0442965963376434
+            ],
+            "held_grasp_object_position": [
+              0.37223800468273055,
+              -0.027692320185764313,
+              1.0442965963376434
+            ],
+            "held_grasp_finger_gap": 0.02554064120474754,
+            "held_grasp_max_gap": 0.12496590375900268,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023938249114528937,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.04595457306295464,
+              -0.998697403324955,
+              0.022173718826434485
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005530738200011689,
+            "held_grasp_line_xy_max_dist": 0.04748295187950134,
+            "held_grasp_object_top_z": 0.04520067945122719,
+            "held_grasp_top_clearance": 0.03369016151108464,
+            "held_grasp_min_top_clearance": 0.013560203835368156,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2339185938391226,
+              -0.1229084737363918,
+              0.7565870242007229
+            ],
+            "target_position": [
+              0.2495320907919872,
+              -0.14091133362111902,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.023830322094470998,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20464977174058205,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565870242007229,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08174712326563528,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09374477710889641,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18160757492926982,
+            "release_required_pad_clearance": 0.056872388554448206,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 9.222842734998299,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 193,
+            "max_placed_release_frames": 193
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "81d01b1dfe606333ef0665808d5ab5e0ed4bbb6a723f22c838b4ceb793cb7e02",
+    "visual_seed": 5545540491116263045,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_26_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea493a5836b2c0cad4bd372537fc7a881e4a5618
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_26_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27128807913141967,
+              -0.13387382880644852,
+              0.9977381269584686
+            ],
+            "current_z": 0.9977381269584686,
+            "required_z": 0.8565866670627443,
+            "initial_z": 0.7565866670627444,
+            "lift_margin": 0.1411514598957243,
+            "gripper_z": 0.9991809693962862,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2677696405919264,
+              -0.1378346125820354,
+              0.9991809693962862
+            ],
+            "object_minus_gripper": [
+              0.0035184385394932405,
+              0.003960783775586868,
+              -0.0014428424378175597
+            ],
+            "object_to_gripper_xy": 0.005297850306788924,
+            "object_to_gripper_z": -0.0014428424378175597,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27128807913141967,
+              -0.15728085979418313,
+              0.9977381269584686
+            ],
+            "finger_b": [
+              0.2609811052640504,
+              -0.13387382880644852,
+              0.9977381269584686
+            ],
+            "finger_midpoint": [
+              0.26613459219773505,
+              -0.14557734430031583,
+              0.9977381269584686
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051534869336846145,
+              0.011703515493867306,
+              0.0
+            ],
+            "finger_gap": 0.025575824717169956,
+            "fingertip_max_gap": 0.09333200371631667,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012787912358584968,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9977381269584686,
+            "object_top_z": 1.0432797975785806,
+            "finger_top_clearance": 0.04554167062011194,
+            "fingertip_min_top_clearance": 0.013662501186033566,
+            "object_projection_between_fingers": 0.8375936312195302,
+            "object_to_finger_line_xy": 0.009432957074550162,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04916600185815834,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.9330498144903876,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
+            "max_stable_success_frames": 161,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
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+                "robot",
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2308619250557422,
+              -0.12153670806165878,
+              0.7565875762375247
+            ],
+            "target_position": [
+              0.2501810056962555,
+              -0.13795773465232453,
+              0.7730800627579277
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+            "xy_threshold": 0.08,
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+            "min_z": 0.5730800627579278,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18112009034865506,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.5211727309527534,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 189,
+            "max_placed_release_frames": 189
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "79b9b6a2442e6b8fa4d89cc8f5d8a09cb9089209868a9118db5745ac37f240fa",
+    "visual_seed": 975891561204086193,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_27_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd4ef6c976a2fcc68dd1e629ba5ced2c4761728f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_27_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+          "skill": "pick",
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+            "object_upright_reference_source": "scene_initial",
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+              1.0
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
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+              "failed_keys": []
+            },
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+          }
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+      },
+      "physical_semantics": {
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
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+            "target_xy_drift": 3.3114378708528405e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+              "controller_target_position": [
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+              "lock_target_position": true,
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+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_28_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..19fb6ef14d0368b9095e048b4fb60fb369c6ee26
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_28_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+              -0.13424446999609121,
+              0.9975425142329196
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+              0.004103551499000629,
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+            "object_to_gripper_xy": 0.005642935614649806,
+            "object_to_gripper_z": -0.0015194371869096113,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.15798723535796774,
+              0.9975425142329196
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+            "finger_b": [
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+              0.9975425142329196
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+            "finger_midpoint": [
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+              -0.14611585267702948,
+              0.9975425142329196
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+              0.011871382680938264,
+              0.0
+            ],
+            "finger_gap": 0.025920276071366797,
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+            "fingertip_line_xy_max_dist": 0.048762817946204365,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
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+          }
+        },
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "source_tilt_threshold_deg": 30.0,
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
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+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+            "valid_pour_held_grasp_max_gap": 0.1249661049246788,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023854811517167108,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.04114625114977588,
+              -0.9987244369015319,
+              0.02926576757985022
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005637412697690429,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.0474830524623394,
+            "valid_pour_held_grasp_object_top_z": 0.04520076885819435,
+            "valid_pour_held_grasp_top_clearance": 0.033697073447608736,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560230657458304,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3673508731567664,
+              -0.05324878874149038,
+              1.0454634303707535
+            ],
+            "held_grasp_finger_b": [
+              0.35705320724169687,
+              -0.029787761551785866,
+              1.0454634303707535
+            ],
+            "held_grasp_midpoint": [
+              0.36220204019923163,
+              -0.041518275146638126,
+              1.0454634303707535
+            ],
+            "held_grasp_object_position": [
+              0.3673508731567664,
+              -0.029787761551785866,
+              1.0454634303707535
+            ],
+            "held_grasp_finger_gap": 0.025621508934768836,
+            "held_grasp_max_gap": 0.1249661049246788,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023854811517167108,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.04114625114977588,
+              -0.9987244369015319,
+              0.02926576757985022
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005637412697690429,
+            "held_grasp_line_xy_max_dist": 0.0474830524623394,
+            "held_grasp_object_top_z": 0.04520076885819435,
+            "held_grasp_top_clearance": 0.033697073447608736,
+            "held_grasp_min_top_clearance": 0.013560230657458304,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.20465720158937456,
+              -0.11162976699630466,
+              0.7565864426788644
+            ],
+            "target_position": [
+              0.2465177240506322,
+              -0.13865793883918615,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0498279581550136,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.19347546555466827,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864426788644,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08813514468906403,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08708281231248201,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17604854579419,
+            "release_required_pad_clearance": 0.053541406156241006,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0943428959186816,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c5e77091d53d121b131fe11b50d8242786d007f99732699035dad23bd2be3201",
+    "visual_seed": 7003998159722558267,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_29_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fda9e68b99f6d70e79287b25f31156ea23a9d254
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_29_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2702196502975113,
+              -0.1389528699417918,
+              0.9990732742643273
+            ],
+            "current_z": 0.9990732742643273,
+            "required_z": 0.856586547253341,
+            "initial_z": 0.7565865472533411,
+            "lift_margin": 0.1424867270109863,
+            "gripper_z": 1.0005971657213357,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26660071453750867,
+              -0.14292149989450353,
+              1.0005971657213357
+            ],
+            "object_minus_gripper": [
+              0.0036189357600026617,
+              0.003968629952711744,
+              -0.001523891457008375
+            ],
+            "object_to_gripper_xy": 0.00537091423656968,
+            "object_to_gripper_z": -0.001523891457008375,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2702196502975113,
+              -0.1625179728632213,
+              0.9990732742643273
+            ],
+            "finger_b": [
+              0.2600017633926347,
+              -0.1389528699417918,
+              0.9990732742643273
+            ],
+            "finger_midpoint": [
+              0.265110706845073,
+              -0.15073542140250656,
+              0.9990732742643273
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051089434524383415,
+              0.011782551460714774,
+              0.0
+            ],
+            "finger_gap": 0.02568500123609916,
+            "fingertip_max_gap": 0.09364968695456022,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012842500618049604,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9990732742643273,
+            "object_top_z": 1.04459040479579,
+            "finger_top_clearance": 0.04551713053146256,
+            "fingertip_min_top_clearance": 0.01365513915943875,
+            "object_projection_between_fingers": 0.8417429736843294,
+            "object_to_finger_line_xy": 0.009374558885149325,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04932484347728011,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.1105968278750877,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 162,
+            "max_stable_success_frames": 162,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "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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+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25363375062447613,
+              -0.13865520373250165,
+              0.7565864182586102
+            ],
+            "target_position": [
+              0.2490290405445038,
+              -0.14084649865445467,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.005099522365435393,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2166061800008605,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864182586102,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544887777491564,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08730538626383104,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18792547371767326,
+            "release_required_pad_clearance": 0.05365269313191552,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3151649665851526,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 199,
+            "max_placed_release_frames": 199
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "181d6be03c13c52c2147426c3c9a7740f4764d563ee56ed18e19632db6078a6e",
+    "visual_seed": 2323827123936259851,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_2_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..204f9f4808f36391f90e8db0b18659d6062dd850
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_2_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2661401137262507,
+              -0.13339342232303023,
+              0.9985270928722356
+            ],
+            "current_z": 0.9985270928722356,
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+            "initial_z": 0.7565865313412472,
+            "lift_margin": 0.14194056153098844,
+            "gripper_z": 1.0002535533495016,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.1374602451609717,
+              1.0002535533495016
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+              0.004066822837941464,
+              -0.0017264604772659897
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+            "object_to_gripper_xy": 0.005645864182552524,
+            "object_to_gripper_z": -0.0017264604772659897,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2661401137262507,
+              -0.15727166282993152,
+              0.9985270928722356
+            ],
+            "finger_b": [
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+              -0.13339342232303023,
+              0.9985270928722356
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+            "finger_midpoint": [
+              0.26104959824732754,
+              -0.14533254257648087,
+              0.9985270928722356
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011939120253450647,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.009365283303512419,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04919827914252478,
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+            "object_tilt_deg": 2.8355440168061388,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 162,
+            "max_stable_success_frames": 162,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.007389744886524899,
+              0.7701463897966117
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+              -0.03390348118423746,
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.73647531675002,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 2.0684517400968994,
+            "max_source_tilt_deg": 89.89259807565276,
+            "source_upright_tilt_deg": 3.521142253036134,
+            "max_source_upright_tilt_deg": 89.70923069347062,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.0684517400968994,
+            "source_upright_return_tilt_deg": 3.521142253036134,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 4.6566128730773926e-08,
+            "max_target_xy_drift": 1.650051568766579e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3757,
+                -0.0074,
+                0.7701
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+              "controller_target_position": [
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+                -0.0074,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+                0.4
+              ],
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+              ],
+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
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+                  0.0005257422735975579,
+                  0.0008724434736072238,
+                  0.00022465990069984489
+                ],
+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
+              "source_return_upright_error_deg": 3.5211509691763356,
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+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 3.521689814033272,
+              "source_return_best_wrist_position": -1.6094914674758911,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6094914674758911
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3757,
+              -0.0074,
+              0.7701
+            ],
+            "pour_controller_controller_target_position": [
+              0.3757,
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+            ],
+            "pour_controller_controller_target_minus_raw_target": [
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+              -0.0,
+              -0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.0005,
+              0.0009,
+              0.0002
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.3763,
+              -0.0323,
+              1.0361
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0665,
+              0.0933
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0005257422735975579,
+                0.0008724434736072238,
+                0.00022465990069984489
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 3.5211509691763356,
+            "pour_controller_source_return_step_error_deg": 2.068454112861134,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.521689814033272,
+            "pour_controller_source_return_best_wrist_position": -1.6094914674758911,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6094914674758911,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.028057409564670555,
+            "valid_pour_held_xy_dist": 0.02311045614939862,
+            "valid_pour_held_gripper_dist": 0.005904965251494167,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.0457364495073331,
+            "valid_pour_source_tilt_deg": 2.0684517400968994,
+            "valid_pour_source_upright_tilt_deg": 3.521142253036134,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 4.6566128730773926e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3704894287736542,
+              -0.05331300632273866,
+              1.0457364495073331
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.36036480155479433,
+              -0.029894908532534847,
+              1.0457364495073331
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.36542711516422427,
+              -0.041603957427636756,
+              1.0457364495073331
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3704894287736542,
+              -0.029894908532534847,
+              1.0457364495073331
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025513043339288766,
+            "valid_pour_held_grasp_max_gap": 0.12496599316596985,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02389244006939308,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.051216766904475436,
+              -0.9981122124661945,
+              0.03389475053294821
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005668969752168883,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.047482996582984924,
+            "valid_pour_held_grasp_object_top_z": 0.045200735330581665,
+            "valid_pour_held_grasp_top_clearance": 0.03377306596814818,
+            "valid_pour_held_grasp_min_top_clearance": 0.0135602205991745,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3704894287736542,
+              -0.05331300632273866,
+              1.0457364495073331
+            ],
+            "held_grasp_finger_b": [
+              0.36036480155479433,
+              -0.029894908532534847,
+              1.0457364495073331
+            ],
+            "held_grasp_midpoint": [
+              0.36542711516422427,
+              -0.041603957427636756,
+              1.0457364495073331
+            ],
+            "held_grasp_object_position": [
+              0.3704894287736542,
+              -0.029894908532534847,
+              1.0457364495073331
+            ],
+            "held_grasp_finger_gap": 0.025513043339288766,
+            "held_grasp_max_gap": 0.12496599316596985,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02389244006939308,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.051216766904475436,
+              -0.9981122124661945,
+              0.03389475053294821
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005668969752168883,
+            "held_grasp_line_xy_max_dist": 0.047482996582984924,
+            "held_grasp_object_top_z": 0.045200735330581665,
+            "held_grasp_top_clearance": 0.03377306596814818,
+            "held_grasp_min_top_clearance": 0.0135602205991745,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24749268007718642,
+              -0.13284845812098625,
+              0.7565863660611825
+            ],
+            "target_position": [
+              0.2449813251986167,
+              -0.13652346525413792,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0044511325249683925,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21875282396102996,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863660611825,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528962906426324,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08663694110024216,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.19080982963927087,
+            "release_required_pad_clearance": 0.05331847055012108,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6546508062676235,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 202,
+            "max_placed_release_frames": 202
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6b1554314679eda68a097bec8716c9e7185dc5e67301dd9707faeb4e77761eee",
+    "visual_seed": 3166244078038304605,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_31_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b8c501107957d9cf42770707558f2242531b3db
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_31_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 31,
+  "success": true,
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+            "valid_pour_held_grasp_object_top_z": 0.045200735330581665,
+            "valid_pour_held_grasp_top_clearance": 0.03350736306882586,
+            "valid_pour_held_grasp_min_top_clearance": 0.0135602205991745,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3748610408973969,
+              -0.05504770405309427,
+              1.0429470406866974
+            ],
+            "held_grasp_finger_b": [
+              0.3651859558227574,
+              -0.031452894527101954,
+              1.0429470406866974
+            ],
+            "held_grasp_midpoint": [
+              0.3700234983600772,
+              -0.04325029929009811,
+              1.0429470406866974
+            ],
+            "held_grasp_object_position": [
+              0.3748610408973969,
+              -0.031452894527101954,
+              1.0429470406866974
+            ],
+            "held_grasp_finger_gap": 0.025501417759986784,
+            "held_grasp_max_gap": 0.12496603041887283,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02377682225025557,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.020158878383737915,
+              -0.999447923531895,
+              0.026409615106873674
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005083858976244544,
+            "held_grasp_line_xy_max_dist": 0.047483015209436416,
+            "held_grasp_object_top_z": 0.045200735330581665,
+            "held_grasp_top_clearance": 0.03350736306882586,
+            "held_grasp_min_top_clearance": 0.0135602205991745,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.26482196392545354,
+              -0.1416791654003092,
+              0.7565880468693514
+            ],
+            "target_position": [
+              0.2528652841556392,
+              -0.13570752941530226,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.01336497764514844,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.22475579323706582,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565880468693514,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567110835747914,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08606363760951492,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.19332604040232185,
+            "release_required_pad_clearance": 0.05303181880475746,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.093593301789159,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 203,
+            "max_placed_release_frames": 203
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dbe3dfa2ba017cc8891530bb00e9753f48508b3a8127a326cb550368d057b04c",
+    "visual_seed": 973248335554390210,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_32_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1093f0c4a67c1a7d50bd615579332323ccdf021
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_32_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27069615814518766,
+              -0.13395770941510418,
+              0.9984404408505588
+            ],
+            "current_z": 0.9984404408505588,
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+            "initial_z": 0.756586631987514,
+            "lift_margin": 0.14185380886304488,
+            "gripper_z": 0.9999654088359567,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26709361522039154,
+              -0.1379714810105829,
+              0.9999654088359567
+            ],
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+              0.003602542924796115,
+              0.004013771595478721,
+              -0.0015249679853979181
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+            "object_to_gripper_xy": 0.005393392063040694,
+            "object_to_gripper_z": -0.0015249679853979181,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.27069615814518766,
+              -0.15738145804637776,
+              0.9984404408505588
+            ],
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+              -0.13395770941510418,
+              0.9984404408505588
+            ],
+            "finger_midpoint": [
+              0.26546639232742836,
+              -0.14566958373074096,
+              0.9984404408505588
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011711874315636778,
+              0.0
+            ],
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0439399137855085,
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+            "object_projection_between_fingers": 0.8337545094395256,
+            "object_to_finger_line_xy": 0.009550614942871679,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04914537258640683,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.87795870241287,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
+            "max_stable_success_frames": 161,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551452214459711,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08742230218471893,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18703897714117085,
+            "release_required_pad_clearance": 0.053711151092359466,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4312622761184963,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9d2c24a31792fc7ba05139572edcf82ac71dea166a752038e2b2bec263c7444d",
+    "visual_seed": 8482258880002459443,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_33_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e474edab40a1c96039693fbf590184f97c94b9ac
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_33_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2727995658663957,
+              -0.13728079023321618,
+              0.9980609440429948
+            ],
+            "current_z": 0.9980609440429948,
+            "required_z": 0.8565866609158147,
+            "initial_z": 0.7565866609158147,
+            "lift_margin": 0.14147428312718013,
+            "gripper_z": 0.9995115873228086,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.14128378635702685,
+              0.9995115873228086
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+              0.003577518267250779,
+              0.004002996123810665,
+              -0.0014506432798138125
+            ],
+            "object_to_gripper_xy": 0.005368669753277456,
+            "object_to_gripper_z": -0.0014506432798138125,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2727995658663957,
+              -0.16071236758332286,
+              0.9980609440429948
+            ],
+            "finger_b": [
+              0.2623993862249745,
+              -0.13728079023321618,
+              0.9980609440429948
+            ],
+            "finger_midpoint": [
+              0.2675994760456851,
+              -0.1489965789082695,
+              0.9980609440429948
+            ],
+            "object_minus_finger_midpoint": [
+              0.005200089820710574,
+              0.011715788675053324,
+              0.0
+            ],
+            "finger_gap": 0.02563596211746039,
+            "fingertip_max_gap": 0.09332207373467624,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.8354179606167446,
+            "object_to_finger_line_xy": 0.00950588913364747,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04916103686733812,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.9629111962950945,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
+            "max_stable_success_frames": 161,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3764097503430073,
+              -0.007462381062425597,
+              0.7701463897966118
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+              -0.036366522762330905,
+              1.046023767753203
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+              -0.025017378366253076,
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+              0.0038867633336522323,
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+            "held_gripper_threshold": 0.12,
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+            "required_height": 0.8001463897966118,
+            "gripper_z": 1.046023767753203,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.71485776802693,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.7774657804946208,
+            "max_source_tilt_deg": 89.8474738534697,
+            "source_upright_tilt_deg": 2.363069955436308,
+            "max_source_upright_tilt_deg": 89.78645657705465,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.7774657804946208,
+            "source_upright_return_tilt_deg": 2.363069955436308,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 9.406358003616333e-08,
+            "max_target_xy_drift": 1.6656099540276254e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3764,
+                -0.0075,
+                0.7701
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+              "controller_target_position": [
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+                -0.0075,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                0.0,
+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                0.0017,
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+                0.4
+              ],
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+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                  0.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+                "position_threshold_m": 0.015,
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+              "source_pose_held_object": "beaker_b",
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+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6089380979537964
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3764,
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
+              -0.0,
+              0.0,
+              -0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.0002,
+              0.0017,
+              0.0002
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+            "pour_controller_controller_last_pour_pose_position": [
+              0.3766,
+              -0.0315,
+              1.0362
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.0676,
+              0.0646,
+              0.0924
+            ],
+            "pour_controller_height_range_1": [
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+            ],
+            "pour_controller_height_range_2": [
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+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.00021126315636696034,
+                0.001733921089360054,
+                0.00023674796538695683
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 2.363077355160607,
+            "pour_controller_source_return_step_error_deg": 1.777503372685409,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.357846948565955,
+            "pour_controller_source_return_best_wrist_position": -1.6089380979537964,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6089380979537964,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.030266182987358427,
+            "valid_pour_held_xy_dist": 0.025576348513840434,
+            "valid_pour_held_gripper_dist": 0.005561514256604868,
+            "valid_pour_required_height": 0.8001463897966118,
+            "valid_pour_held_z": 1.0444641789084816,
+            "valid_pour_source_tilt_deg": 1.7774657804946208,
+            "valid_pour_source_upright_tilt_deg": 2.363069955436308,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 9.406358003616333e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3710918200142835,
+              -0.0559048976998013,
+              1.0444641789084816
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.36119638811739496,
+              -0.03247975942867867,
+              1.0444641789084816
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3661441040658392,
+              -0.04419232856423999,
+              1.0444641789084816
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3710918200142835,
+              -0.03247975942867867,
+              1.0444641789084816
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025429445047959125,
+            "valid_pour_held_grasp_max_gap": 0.12496604532003402,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02372353466292783,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.03216804021277512,
+              -0.9991496204143545,
+              0.02579250307203107
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005330376652140972,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04748302266001701,
+            "valid_pour_held_grasp_object_top_z": 0.04520079493522644,
+            "valid_pour_held_grasp_top_clearance": 0.03365734425494441,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560238480567931,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3710918200142835,
+              -0.0559048976998013,
+              1.0444641789084816
+            ],
+            "held_grasp_finger_b": [
+              0.36119638811739496,
+              -0.03247975942867867,
+              1.0444641789084816
+            ],
+            "held_grasp_midpoint": [
+              0.3661441040658392,
+              -0.04419232856423999,
+              1.0444641789084816
+            ],
+            "held_grasp_object_position": [
+              0.3710918200142835,
+              -0.03247975942867867,
+              1.0444641789084816
+            ],
+            "held_grasp_finger_gap": 0.025429445047959125,
+            "held_grasp_max_gap": 0.12496604532003402,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02372353466292783,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.03216804021277512,
+              -0.9991496204143545,
+              0.02579250307203107
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005330376652140972,
+            "held_grasp_line_xy_max_dist": 0.04748302266001701,
+            "held_grasp_object_top_z": 0.04520079493522644,
+            "held_grasp_top_clearance": 0.03365734425494441,
+            "held_grasp_min_top_clearance": 0.013560238480567931,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.23444660837126038,
+              -0.11983111176903441,
+              0.7565863331973651
+            ],
+            "target_position": [
+              0.25165458469693014,
+              -0.1388245377068901,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.025629371394585942,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20768497867856103,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863331973651,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08212977379562844,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0850071500215203,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18505930092689374,
+            "release_required_pad_clearance": 0.05250357501076015,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.07912919188320401,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 198,
+            "max_placed_release_frames": 198
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "af8a7bf5fe05a313fd4158f52569a75752fce86cc30253835d53ef500efbc848",
+    "visual_seed": 5427994347606744957,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_34_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d99938edfd2af834092bc0d9fcdb4680087a065b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_34_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.26638824519374726,
+              -0.13142493348283213,
+              0.9998806782694784
+            ],
+            "current_z": 0.9998806782694784,
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+            ],
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+              0.3748972284344301,
+              -0.02722024763831695,
+              1.043844646141046
+            ],
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+            "held_grasp_max_gap": 0.12496594846248626,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0239615045856763,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.022731609748233815,
+              -0.9993826870873117,
+              0.02678653894027272
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005141717847192119,
+            "held_grasp_line_xy_max_dist": 0.04748297423124313,
+            "held_grasp_object_top_z": 0.04520073160529137,
+            "held_grasp_top_clearance": 0.033441076855940874,
+            "held_grasp_min_top_clearance": 0.013560219481587409,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.23298619095320505,
+              -0.11752086544887227,
+              0.7565866837399531
+            ],
+            "target_position": [
+              0.24505619213342428,
+              -0.13380569230969888,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.020270187822948094,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20987810463005713,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565866837399531,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08085064026294685,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0901150274282136,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1858269356917859,
+            "release_required_pad_clearance": 0.055057513714106804,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.19473146178583,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 199,
+            "max_placed_release_frames": 199
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7e5eb1ce7bbda9a9c7bdbe5b8d6bf1e12dd5e36f66ef1b418de160c07fd6db0e",
+    "visual_seed": 2966590726937029286,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_35_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2d8d6369a34208369cd3409757ae0cdfd67a89d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_35_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              -0.13147183260171952,
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+            "gripper_z": 1.0002499500633544,
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+              -0.13555610406420626,
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+              0.004084271462486744,
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+            "object_to_gripper_z": -0.002048424327242504,
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+              0.26711660439857343,
+              -0.15538498523887384,
+              0.9982015257361119
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+              0.9982015257361119
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+              0.2620582132041378,
+              -0.14342840892029668,
+              0.9982015257361119
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+              0.011956576318577161,
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+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_tilt_deg": 2.966355386296162,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 163,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.37992713964049274,
+              -0.008860516504712326,
+              0.7701464494012565
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 204,
+            "max_placed_release_frames": 204
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "13d0d407604bb12c446d4476cde8259e5952d9c47955d716b3ed2e268710f481",
+    "visual_seed": 4054694440564022112,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_36_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ce823b9d87504a8f682ec8f75b5102127fbf2b6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_36_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2745207740444088,
+              -0.133827782530992,
+              0.9979809238538337
+            ],
+            "current_z": 0.9979809238538337,
+            "required_z": 0.8565865963344163,
+            "initial_z": 0.7565865963344163,
+            "lift_margin": 0.1413943275194175,
+            "gripper_z": 0.9990422448498829,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27099984674397626,
+              -0.13784890533907118,
+              0.9990422448498829
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+              0.0035209273004325192,
+              0.004021122808079175,
+              -0.0010613209960491643
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+            "object_to_gripper_xy": 0.005344750479918176,
+            "object_to_gripper_z": -0.0010613209960491643,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2745207740444088,
+              -0.15720983469840133,
+              0.9979809238538337
+            ],
+            "finger_b": [
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+              -0.133827782530992,
+              0.9979809238538337
+            ],
+            "finger_midpoint": [
+              0.2693112226507054,
+              -0.14551880861469668,
+              0.9979809238538337
+            ],
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+              0.011691026083704675,
+              0.0
+            ],
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.009517001371441102,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049087199566845194,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.9682213183405586,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
+            "max_stable_success_frames": 161,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.37097595250670373,
+              -0.007600098991163002,
+              0.7701463897966117
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+              -0.03727276758821166,
+              1.0454010146197354
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+              0.029672668597048656,
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+              -0.02578420940128631,
+              0.2740777395483813
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+              0.0038884591957623477,
+              -0.0011768852747424674
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+            "held_gripper_dist": 0.005450054893839764,
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+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966117,
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+            "required_height": 0.8001463897966117,
+            "gripper_z": 1.0454010146197354,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.79404698126406,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 2.291647753736498,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.868733758263174,
+            "max_source_tilt_deg": 89.89467001369871,
+            "source_upright_tilt_deg": 1.8249010613445817,
+            "max_source_upright_tilt_deg": 89.67888968410462,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.868733758263174,
+            "source_upright_return_tilt_deg": 1.8249010613445817,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 9.79804906932505e-08,
+            "max_target_xy_drift": 2.1070337101939406e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.371,
+                -0.0076,
+                0.7701
+              ],
+              "controller_target_position": [
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+                -0.0076,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                0.0,
+                -0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                -0.0016
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+                0.4
+              ],
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+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                  0.0,
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
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+                  0.2
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+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
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+              "wrist_compensated_return_position": -1.6087836027145386
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            ],
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+            "pour_controller_pour_pose_offset": [
+              -0.0006,
+              0.0017,
+              -0.0016
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+            "pour_controller_controller_last_pour_pose_position": [
+              0.3704,
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+              1.0345
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0637,
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+            "pour_controller_height_range_1": [
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+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                0.0016915575432591631,
+                -0.0015921863150239514
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 1.8249061655606977,
+            "pour_controller_source_return_step_error_deg": 1.8687725125459378,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.859371127000525,
+            "pour_controller_source_return_best_wrist_position": -1.6087836027145386,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6087836027145386,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03081847061207388,
+            "valid_pour_held_xy_dist": 0.02620771378063335,
+            "valid_pour_held_gripper_dist": 0.005450054893839764,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.044224129344993,
+            "valid_pour_source_tilt_deg": 1.868733758263174,
+            "valid_pour_source_upright_tilt_deg": 1.8249010613445817,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 9.79804906932505e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3662835323253668,
+              -0.056934539460471785,
+              1.044224129344993
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3565488194963177,
+              -0.03338430839244931,
+              1.044224129344993
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3614161759108423,
+              -0.04515942392646055,
+              1.044224129344993
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3662835323253668,
+              -0.03338430839244931,
+              1.044224129344993
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02548289656262223,
+            "valid_pour_held_grasp_max_gap": 0.12496602296829223,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02376516814000711,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.02330641604726385,
+              -0.9994928204621297,
+              0.021700525700749096
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0051467559180755,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04748301148414612,
+            "valid_pour_held_grasp_object_top_z": 0.045200735330581665,
+            "valid_pour_held_grasp_top_clearance": 0.03354503252787257,
+            "valid_pour_held_grasp_min_top_clearance": 0.0135602205991745,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3662835323253668,
+              -0.056934539460471785,
+              1.044224129344993
+            ],
+            "held_grasp_finger_b": [
+              0.3565488194963177,
+              -0.03338430839244931,
+              1.044224129344993
+            ],
+            "held_grasp_midpoint": [
+              0.3614161759108423,
+              -0.04515942392646055,
+              1.044224129344993
+            ],
+            "held_grasp_object_position": [
+              0.3662835323253668,
+              -0.03338430839244931,
+              1.044224129344993
+            ],
+            "held_grasp_finger_gap": 0.02548289656262223,
+            "held_grasp_max_gap": 0.12496602296829223,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02376516814000711,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.02330641604726385,
+              -0.9994928204621297,
+              0.021700525700749096
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0051467559180755,
+            "held_grasp_line_xy_max_dist": 0.04748301148414612,
+            "held_grasp_object_top_z": 0.045200735330581665,
+            "held_grasp_top_clearance": 0.03354503252787257,
+            "held_grasp_min_top_clearance": 0.0135602205991745,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25447228343196354,
+              -0.13374470043774045,
+              0.7565861687009661
+            ],
+            "target_position": [
+              0.2534234329507428,
+              -0.1361416671814137,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0026163976957321567,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21588572057324665,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565861687009661,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551411254265147,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08897583701863136,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18738729547191313,
+            "release_required_pad_clearance": 0.05448791850931568,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.005431780973074,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 232,
+            "max_placed_release_frames": 232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "96c3301c6bb4cba320f7d9ea922cd4df5f2a5df37b7786e91988e178fbdbd0ea",
+    "visual_seed": 3175915388178563122,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_38_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e92c04ebf769fed53e226e4d22d50b0ff22545f5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_38_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27284376151795986,
+              -0.13769003160746665,
+              0.9976650639061748
+            ],
+            "current_z": 0.9976650639061748,
+            "required_z": 0.8565866394275846,
+            "initial_z": 0.7565866394275846,
+            "lift_margin": 0.1410784244785902,
+            "gripper_z": 0.9988516802060173,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2690337190146702,
+              -0.14175528577032137,
+              0.9988516802060173
+            ],
+            "object_minus_gripper": [
+              0.0038100425032896457,
+              0.00406525416285472,
+              -0.0011866162998425134
+            ],
+            "object_to_gripper_xy": 0.005571598988215256,
+            "object_to_gripper_z": -0.0011866162998425134,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27284376151795986,
+              -0.16139416553032665,
+              0.9976650639061748
+            ],
+            "finger_b": [
+              0.26252755680391776,
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+            "held_grasp_object_top_z": 0.04520054906606674,
+            "held_grasp_top_clearance": 0.03372031999054015,
+            "held_grasp_min_top_clearance": 0.013560164719820023,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.23635016826515903,
+              -0.12264432808529852,
+              0.7565863428224009
+            ],
+            "target_position": [
+              0.2515886009652492,
+              -0.14096889348588365,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.023832740679063737,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2069569501411873,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863428224009,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0814253502053129,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09083584905651497,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18403664428120498,
+            "release_required_pad_clearance": 0.05541792452825749,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.9657629904506075,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 194,
+            "max_placed_release_frames": 194
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c04ee12ce5d70259cb3811bac24bc7ace86e2c51278b1c69dcc77637accf7516",
+    "visual_seed": 3405562814589781851,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_39_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0f1b5211f8de8ce5d20ca29a5e7fe3f6aa24920
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_39_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "object_position": [
+              0.26770581127530346,
+              -0.13216386856407816,
+              1.0000033509433202
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+              -0.1362184980271295,
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+              -0.15559748058093387,
+              1.0000033509433202
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+              -0.13216386856407816,
+              1.0000033509433202
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+              0.26242047945341074,
+              -0.14388067457250603,
+              1.0000033509433202
+            ],
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+              0.011716806008427866,
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+            "object_to_finger_line_xy": 0.009635681825748577,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 162,
+            "max_stable_success_frames": 162,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.00810924093551181,
+              0.7701464494012565
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+            "held_minus_target": [
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+              0.273178254280957
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+            "held_minus_gripper": [
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+              0.0038558767375302186,
+              -0.0017451601032698605
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+            "xy_dist": 0.03133823997869344,
+            "held_xy_dist": 0.026647140158053306,
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "56bf3681eda0d19828f4e8c8287c3fe8ec1a07c8274ddadc8998fa458c427a70",
+    "visual_seed": 935787009776592853,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_3_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfb52aea35b5e593fb109c9ebb1af034af23afc4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_3_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2717625398663322,
+              -0.13426946366271775,
+              0.9991593786204156
+            ],
+            "current_z": 0.9991593786204156,
+            "required_z": 0.8565866612399368,
+            "initial_z": 0.7565866612399368,
+            "lift_margin": 0.14257271738047883,
+            "gripper_z": 1.0002324744797715,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2681282065895567,
+              -0.13834222322808956,
+              1.0002324744797715
+            ],
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+              0.003634333276775481,
+              0.004072759565371814,
+              -0.0010730958593558881
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+            "object_to_gripper_xy": 0.005458548235932812,
+            "object_to_gripper_z": -0.0010730958593558881,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2717625398663322,
+              -0.15763636196076924,
+              0.9991593786204156
+            ],
+            "finger_b": [
+              0.2610884282663156,
+              -0.13426946366271775,
+              0.9991593786204156
+            ],
+            "finger_midpoint": [
+              0.26642548406632394,
+              -0.1459529128117435,
+              0.9991593786204156
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011683449149025749,
+              0.0
+            ],
+            "finger_gap": 0.025689464660072044,
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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": 0.013604440719659777,
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+            "object_to_finger_line_xy": 0.00970907270665325,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04896741476068771,
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+            "object_tilt_deg": 2.7155651703227734,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 162,
+            "max_stable_success_frames": 162,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.37627045428816736,
+              -0.007480757919467909,
+              0.7701463897966117
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+            "gripper_position": [
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+              -0.038139501629309513,
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+              0.030658743709841604,
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+              0.003876293157881433,
+              -0.0012186174985022724
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+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966117,
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+            "gripper_z": 1.0447533068054273,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.81639536022834,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 3.0930662722109883,
+            "max_source_tilt_deg": 89.8302221279873,
+            "source_upright_tilt_deg": 2.8391945350262477,
+            "max_source_upright_tilt_deg": 89.91720642892585,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 3.0930662722109883,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 6.41616368940776e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              1.0
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                -0.0075,
+                0.7701
+              ],
+              "controller_target_position": [
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+                -0.0075,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
+                0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
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+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+                "pour_height_range_m": [
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+              "source_pose_feedback": true,
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+              "source_pose_held_object": "beaker_b",
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+              "wrist_compensated_return_position": -1.6331337690353394
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+            "pour_controller_height_range_1": [
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                0.00031525858425685655,
+                -0.0011972074024135483,
+                -0.0018379930404149886
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 2.839186039167924,
+            "pour_controller_source_return_step_error_deg": 3.0930539980279668,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.0843968334196012,
+            "pour_controller_source_return_best_wrist_position": -1.6331337690353394,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6331337690353394,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03176712475368256,
+            "valid_pour_held_xy_dist": 0.02716068415107423,
+            "valid_pour_held_gripper_dist": 0.005564133914380976,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.043534689306925,
+            "valid_pour_source_tilt_deg": 3.0930662722109883,
+            "valid_pour_source_upright_tilt_deg": 2.8391945350262477,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.41616368940776e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3717534745465454,
+              -0.0576234667537718,
+              1.043534689306925
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.36216265834813793,
+              -0.03426320847142808,
+              1.043534689306925
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.36695806644734164,
+              -0.045943337612599944,
+              1.043534689306925
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3717534745465454,
+              -0.03426320847142808,
+              1.043534689306925
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02525243398901269,
+            "valid_pour_held_grasp_max_gap": 0.12496604532003402,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02342139801684512,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.009364631265387982,
+              -0.9987724997564573,
+              0.04863946351986924
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004937245977289966,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04748302266001701,
+            "valid_pour_held_grasp_object_top_z": 0.045200739055871964,
+            "valid_pour_held_grasp_top_clearance": 0.033579854504681594,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560221716761588,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3717534745465454,
+              -0.0576234667537718,
+              1.043534689306925
+            ],
+            "held_grasp_finger_b": [
+              0.36216265834813793,
+              -0.03426320847142808,
+              1.043534689306925
+            ],
+            "held_grasp_midpoint": [
+              0.36695806644734164,
+              -0.045943337612599944,
+              1.043534689306925
+            ],
+            "held_grasp_object_position": [
+              0.3717534745465454,
+              -0.03426320847142808,
+              1.043534689306925
+            ],
+            "held_grasp_finger_gap": 0.02525243398901269,
+            "held_grasp_max_gap": 0.12496604532003402,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02342139801684512,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.009364631265387982,
+              -0.9987724997564573,
+              0.04863946351986924
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004937245977289966,
+            "held_grasp_line_xy_max_dist": 0.04748302266001701,
+            "held_grasp_object_top_z": 0.045200739055871964,
+            "held_grasp_top_clearance": 0.033579854504681594,
+            "held_grasp_min_top_clearance": 0.013560221716761588,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2528747327904509,
+              -0.14461292997161798,
+              0.7565880920573382
+            ],
+            "target_position": [
+              0.2500487720488996,
+              -0.13850194035962043,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.006732774179395245,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2178468649414934,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565880920573382,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547184982661527,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08711922940220217,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18772492188830958,
+            "release_required_pad_clearance": 0.053559614701101085,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.128448335352071,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 202,
+            "max_placed_release_frames": 202
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2a41a6dd340433aefdb52f7e9fb8b31841dc46c1d9355e7f47f45d94f24fd20e",
+    "visual_seed": 459831411566875922,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_40_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..86fb58624f4ccfb1aeaf61c05ba5cc997bd042cd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_40_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2736002265769486,
+              -0.13291834288279109,
+              0.9998917555356199
+            ],
+            "current_z": 0.9998917555356199,
+            "required_z": 0.8565866261084245,
+            "initial_z": 0.7565866261084245,
+            "lift_margin": 0.14330512942719542,
+            "gripper_z": 1.0016054893967261,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26986736163848246,
+              -0.13698763748942305,
+              1.0016054893967261
+            ],
+            "object_minus_gripper": [
+              0.0037328649384661405,
+              0.004069294606631968,
+              -0.0017137338611061814
+            ],
+            "object_to_gripper_xy": 0.005522086493744357,
+            "object_to_gripper_z": -0.0017137338611061814,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2736002265769486,
+              -0.15664199186601205,
+              0.9998917555356199
+            ],
+            "finger_b": [
+              0.26340969140433845,
+              -0.13291834288279109,
+              0.9998917555356199
+            ],
+            "finger_midpoint": [
+              0.2685049589906435,
+              -0.14478016737440158,
+              0.9998917555356199
+            ],
+            "object_minus_finger_midpoint": [
+              0.0050952675863050745,
+              0.011861824491610495,
+              0.0
+            ],
+            "finger_gap": 0.02581973137318213,
+            "fingertip_max_gap": 0.09333283537743456,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012909865686591079,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2378126920144937,
+              -0.11728431224741918,
+              0.7565864986071781
+            ],
+            "target_position": [
+              0.25265498045457363,
+              -0.13733148578142468,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.024943590215545566,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20602821924528553,
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+            "gripper_away_ok": true,
+            "object_z": 0.7565864986071781,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08272350787605934,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08861624785697024,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18344394645488776,
+            "release_required_pad_clearance": 0.05430812392848512,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.6370917917239796,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 196,
+            "max_placed_release_frames": 196
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8f20793565f0dd049181e95775d13bca505c86b4cf1601cec8770bd4e0b4678c",
+    "visual_seed": 8004177344444073159,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_41_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7b2db7e2ab25b24e4ce03cf72af917ef5211e64
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_41_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+              0.0,
+              1.0
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+          }
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "virtual_attach_allowed": false,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "wrist_idx": 5,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "source_upright_axis_local": [
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+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "536e7745b5f493c901a47974f15cff0e7e1f5ef2af9333091ccc4bc1fa2c26c3",
+    "visual_seed": 5871982113690670092,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_43_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6639fccaaa013881c6b7924cad99df5535f372bc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_43_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              -0.12857981574037333,
+              0.9984842213223822
+            ],
+            "current_z": 0.9984842213223822,
+            "required_z": 0.8565865934209517,
+            "initial_z": 0.7565865934209517,
+            "lift_margin": 0.14189762790143057,
+            "gripper_z": 1.000062035197092,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2660836527441697,
+              -0.13264137815198251,
+              1.000062035197092
+            ],
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+              0.003610915613844301,
+              0.004061562411609182,
+              -0.001577813874709677
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+            "object_to_gripper_xy": 0.0054346113746707924,
+            "object_to_gripper_z": -0.001577813874709677,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.269694568358014,
+              -0.15191288442276288,
+              0.9984842213223822
+            ],
+            "finger_b": [
+              0.25903693360785296,
+              -0.12857981574037333,
+              0.9984842213223822
+            ],
+            "finger_midpoint": [
+              0.26436575098293347,
+              -0.1402463500815681,
+              0.9984842213223822
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+            "object_minus_finger_midpoint": [
+              0.005328817375080508,
+              0.011666534341194773,
+              0.0
+            ],
+            "finger_gap": 0.02565184735267516,
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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": 0.009694246195933152,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04902746371075328,
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+            "object_tilt_deg": 2.712855907066999,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
+            "max_stable_success_frames": 161,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.37915993845526624,
+              -0.003751118810243829,
+              0.7701463897966119
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+            "gripper_position": [
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+              -0.033275626575732895,
+              1.0449361224910396
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+              0.029524507765489066,
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+              0.2730631954115621
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+              0.0038886511438808932,
+              -0.0017265372828656478
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.71178418290042,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "max_source_tilt_deg": 89.99327042582088,
+            "source_upright_tilt_deg": 2.973325743941646,
+            "max_source_upright_tilt_deg": 89.98897712232169,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.880227555590867,
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+            "target_xy_drift": 6.040149261743225e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                -0.0038,
+                0.7701
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+              "controller_target_position": [
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+                -0.0038,
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+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+                "pour_height_range_m": [
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+              "source_pose_held_object": "beaker_b",
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+            "pour_controller_workflow_step_index": 1,
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_raw_target_position": [
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
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+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
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+            "pour_controller_source_return_step_error_deg": 2.880221758534529,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.96621395584969,
+            "pour_controller_source_return_best_wrist_position": -1.6342456340789795,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6342456340789795,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.0309832030562417,
+            "valid_pour_held_xy_dist": 0.026253705159235325,
+            "valid_pour_held_gripper_dist": 0.005659970645057519,
+            "valid_pour_required_height": 0.8001463897966119,
+            "valid_pour_held_z": 1.043209585208174,
+            "valid_pour_source_tilt_deg": 2.880227555590867,
+            "valid_pour_source_upright_tilt_deg": 2.973325743941646,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.040149261743225e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3734977931141073,
+              -0.05245938699121573,
+              1.043209585208174
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.36359988714105695,
+              -0.029386975431852,
+              1.043209585208174
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.36854884012758216,
+              -0.04092318121153386,
+              1.043209585208174
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3734977931141073,
+              -0.029386975431852,
+              1.043209585208174
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.0251058701863928,
+            "valid_pour_held_grasp_max_gap": 0.12496600806713104,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023264392855675185,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.022534188667354838,
+              -0.998653804167064,
+              0.04672033565542788
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0052352037477500935,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04748300403356552,
+            "valid_pour_held_grasp_object_top_z": 0.045200761407613754,
+            "valid_pour_held_grasp_top_clearance": 0.03379160626038462,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560228422284127,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3734977931141073,
+              -0.05245938699121573,
+              1.043209585208174
+            ],
+            "held_grasp_finger_b": [
+              0.36359988714105695,
+              -0.029386975431852,
+              1.043209585208174
+            ],
+            "held_grasp_midpoint": [
+              0.36854884012758216,
+              -0.04092318121153386,
+              1.043209585208174
+            ],
+            "held_grasp_object_position": [
+              0.3734977931141073,
+              -0.029386975431852,
+              1.043209585208174
+            ],
+            "held_grasp_finger_gap": 0.0251058701863928,
+            "held_grasp_max_gap": 0.12496600806713104,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023264392855675185,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.022534188667354838,
+              -0.998653804167064,
+              0.04672033565542788
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0052352037477500935,
+            "held_grasp_line_xy_max_dist": 0.04748300403356552,
+            "held_grasp_object_top_z": 0.045200761407613754,
+            "held_grasp_top_clearance": 0.03379160626038462,
+            "held_grasp_min_top_clearance": 0.013560228422284127,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2340629007961299,
+              -0.11713356951630302,
+              0.7565865407229247
+            ],
+            "target_position": [
+              0.24827050238472595,
+              -0.13323009925273097,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.02146984425784188,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20813333173781282,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865407229247,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08017770807653064,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08726451207750975,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18459705309860303,
+            "release_required_pad_clearance": 0.05363225603875488,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.274576455304528,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 198,
+            "max_placed_release_frames": 198
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "96aa353a4239c04a0b3ccbf6c4739faa8c82c1f54acd49faa6d0679e689e2543",
+    "visual_seed": 5717616589079647091,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_46_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..09281cdcf0bf48cb8bc15e72907d4f25aa400167
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_46_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2686946989161708,
+              -0.13270701544103095,
+              0.9996421845589895
+            ],
+            "current_z": 0.9996421845589895,
+            "required_z": 0.8565866768540223,
+            "initial_z": 0.7565866768540224,
+            "lift_margin": 0.1430555077049671,
+            "gripper_z": 1.0012729755901686,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26518759282802273,
+              -0.1366906010275693,
+              1.0012729755901686
+            ],
+            "object_minus_gripper": [
+              0.003507106088148082,
+              0.003983585586538357,
+              -0.0016307910311791352
+            ],
+            "object_to_gripper_xy": 0.005307423785491553,
+            "object_to_gripper_z": -0.0016307910311791352,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2686946989161708,
+              -0.1560430343159851,
+              0.9996421845589895
+            ],
+            "finger_b": [
+              0.2582323173574444,
+              -0.13270701544103095,
+              0.9996421845589895
+            ],
+            "finger_midpoint": [
+              0.26346350813680763,
+              -0.144375024878508,
+              0.9996421845589895
+            ],
+            "object_minus_finger_midpoint": [
+              0.005231190779363182,
+              0.011668009437477062,
+              0.0
+            ],
+            "finger_gap": 0.02557403380017699,
+            "fingertip_max_gap": 0.09324370665855639,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01278701690008847,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9996421845589895,
+            "object_top_z": 1.045141387549831,
+            "finger_top_clearance": 0.045499202990841536,
+            "fingertip_min_top_clearance": 0.01364976089725246,
+            "object_projection_between_fingers": 0.8326357716957198,
+            "object_to_finger_line_xy": 0.009546805773351355,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049121853329278195,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.9054289660484973,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 162,
+            "max_stable_success_frames": 162,
+            "required_stable_lift_frames": 5
+          },
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+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2464982325351585,
+              -0.13469440804893046,
+              0.7565864948438019
+            ],
+            "target_position": [
+              0.24729286813242032,
+              -0.1342577494695903,
+              0.7730800627579277
+            ],
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+            "xy_dist": 0.0009067063732802408,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21502793680423823,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864948438019,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534464972106134,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0857875077816058,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18617156111094676,
+            "release_required_pad_clearance": 0.052893753890802905,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8270833712432584,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 202,
+            "max_placed_release_frames": 202
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6afdd6293ab2fa2b69ee08a4976d455a56b071770531939c50bfb1ec50de4845",
+    "visual_seed": 5884665819383289533,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_47_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e311cdd802d060536facfc53bfe000a69c480a9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_47_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+          "skill": "pick",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+          }
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "metrics": {
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.183847528739817,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.862645149230957e-08,
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+                "wrist",
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+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fb608f560812dbd337c764fa64faf36e813a651aa480198298b004e5c2f79be0",
+    "visual_seed": 6879068846182885384,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_48_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ed023288e1699ffec0926a706054b66be89c816
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_48_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              -0.14012917917008286,
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+              0.9991143264869902
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+              -0.14792599693321073,
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+              0.011788785823827613,
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+              1.0
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+            "stable_success_frames": 162,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+          }
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "target_position": [
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+            "missing_end_effector_orientation_samples": 0,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+              "approach_xy_threshold_m": 0.08,
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+            "pour_controller_wrist_compensated_return_position": -1.6087379455566406,
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+            "valid_pour_held_xy_dist": 0.024194386892343774,
+            "valid_pour_held_gripper_dist": 0.005658995798980228,
+            "valid_pour_required_height": 0.8001465090059015,
+            "valid_pour_held_z": 1.0457437715275149,
+            "valid_pour_source_tilt_deg": 2.2246561554301496,
+            "valid_pour_source_upright_tilt_deg": 2.5326589807614597,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.179274400008022e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.36739152857908997,
+              -0.053678908314507216,
+              1.0457437715275149
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3576955299056649,
+              -0.030199368293698986,
+              1.0457437715275149
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3625435292423774,
+              -0.041939138304103105,
+              1.0457437715275149
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.36739152857908997,
+              -0.030199368293698986,
+              1.0457437715275149
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.0254027791759838,
+            "valid_pour_held_grasp_max_gap": 0.12496597081422806,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023757961555575698,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.031080475415509373,
+              -0.9990232043042407,
+              0.03141084700598073
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005223400015547742,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04748298540711403,
+            "valid_pour_held_grasp_object_top_z": 0.04520072788000107,
+            "valid_pour_held_grasp_top_clearance": 0.033623103350611416,
+            "valid_pour_held_grasp_min_top_clearance": 0.01356021836400032,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36739152857908997,
+              -0.053678908314507216,
+              1.0457437715275149
+            ],
+            "held_grasp_finger_b": [
+              0.3576955299056649,
+              -0.030199368293698986,
+              1.0457437715275149
+            ],
+            "held_grasp_midpoint": [
+              0.3625435292423774,
+              -0.041939138304103105,
+              1.0457437715275149
+            ],
+            "held_grasp_object_position": [
+              0.36739152857908997,
+              -0.030199368293698986,
+              1.0457437715275149
+            ],
+            "held_grasp_finger_gap": 0.0254027791759838,
+            "held_grasp_max_gap": 0.12496597081422806,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023757961555575698,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.031080475415509373,
+              -0.9990232043042407,
+              0.03141084700598073
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005223400015547742,
+            "held_grasp_line_xy_max_dist": 0.04748298540711403,
+            "held_grasp_object_top_z": 0.04520072788000107,
+            "held_grasp_top_clearance": 0.033623103350611416,
+            "held_grasp_min_top_clearance": 0.01356021836400032,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24947360844317398,
+              -0.13824086305494013,
+              0.7565863623965909
+            ],
+            "target_position": [
+              0.2453918114131624,
+              -0.14058300146352426,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.004706025851945177,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21874554848757197,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863623965909,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565074387515021,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08885633484631127,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18947819353573284,
+            "release_required_pad_clearance": 0.054428167423155635,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.8833741926594096,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 202,
+            "max_placed_release_frames": 202
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5248b8664c97bb3dd0545dc2e785983a0db97d308af3acbc273bc8fe490172b1",
+    "visual_seed": 2760346579064675873,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_49_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6df545ce5881def0130d4b092b929db59d674ed8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_49_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27342792247276837,
+              -0.13047363545248225,
+              0.9983229314213751
+            ],
+            "current_z": 0.9983229314213751,
+            "required_z": 0.8565865097996846,
+            "initial_z": 0.7565865097996847,
+            "lift_margin": 0.14173642162169042,
+            "gripper_z": 1.0001425354807634,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2697056254108016,
+              -0.13451322918876502,
+              1.0001425354807634
+            ],
+            "object_minus_gripper": [
+              0.0037222970619667506,
+              0.004039593736282765,
+              -0.0018196040593883023
+            ],
+            "object_to_gripper_xy": 0.0054930695400423665,
+            "object_to_gripper_z": -0.0018196040593883023,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27342792247276837,
+              -0.15417136828184802,
+              0.9983229314213751
+            ],
+            "finger_b": [
+              0.26326156534631345,
+              -0.13047363545248225,
+              0.9983229314213751
+            ],
+            "finger_midpoint": [
+              0.2683447439095409,
+              -0.14232250186716514,
+              0.9983229314213751
+            ],
+            "object_minus_finger_midpoint": [
+              0.005083178563227486,
+              0.011848866414682885,
+              0.0
+            ],
+            "finger_gap": 0.025786379320769732,
+            "fingertip_max_gap": 0.0935330941578153,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012893189660384876,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9983229314213751,
+            "object_top_z": 1.043937849783478,
+            "finger_top_clearance": 0.04561491836210285,
+            "fingertip_min_top_clearance": 0.013684475508630839,
+            "object_projection_between_fingers": 0.844564580549785,
+            "object_to_finger_line_xy": 0.009342902003950507,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04926654707890765,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.152390424193157,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 163,
+            "max_stable_success_frames": 163,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
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+                "ridgebase_rizon4",
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+                "shoulder_pan_joint",
+                "split_aloha",
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+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
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+              0.25743324570466564,
+              -0.13566011912674214,
+              0.7565862831028669
+            ],
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+              -0.13368474947714334,
+              0.7730800627579277
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2190737791523672,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18853541622257436,
+            "release_required_pad_clearance": 0.05311050254505237,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2480194807143243,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 199,
+            "max_placed_release_frames": 199
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4cd9e993ded0ab14e655e429f0b5448803cd9e5114cfceeffc69c8a52d8c5cc2",
+    "visual_seed": 1172832386942944362,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_4_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e86610453b459019a1940a47919a84bcbcb5b99
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_4_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+          "skill": "pick",
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "source_tilt_deg": 1.9983388008541516,
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+            "source_upright_tilt_deg": 2.5656874810915284,
+            "max_source_upright_tilt_deg": 89.91753867124353,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.9983388008541516,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 8.282522680837589e-08,
+            "max_target_xy_drift": 1.743943485932382e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1f04fd5d476de238b98a244c6d49f3f3127ca893f4e716620f0121b71f952e3e",
+    "visual_seed": 3705460426421700423,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_51_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..91596bf8b07789daab24816858c677c43ac4c56b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_51_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              -0.15087537616556057,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+          }
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
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+            "target_position": [
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+            "source_tilt_threshold_deg": 30.0,
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3674393203964767,
+              -0.05348603172583982,
+              1.044906594259286
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3577065606434407,
+              -0.029934493308228755,
+              1.044906594259286
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3625729405199587,
+              -0.04171026251703429,
+              1.044906594259286
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3674393203964767,
+              -0.029934493308228755,
+              1.044906594259286
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025483358770902385,
+            "valid_pour_held_grasp_max_gap": 0.12496578454971313,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024018537173271154,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.05196409057459607,
+              -0.9983544491658991,
+              0.024251332363591886
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005479009575804157,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04748289227485657,
+            "valid_pour_held_grasp_object_top_z": 0.045200638473033905,
+            "valid_pour_held_grasp_top_clearance": 0.033697123895745876,
+            "valid_pour_held_grasp_min_top_clearance": 0.01356019154191017,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3674393203964767,
+              -0.05348603172583982,
+              1.044906594259286
+            ],
+            "held_grasp_finger_b": [
+              0.3577065606434407,
+              -0.029934493308228755,
+              1.044906594259286
+            ],
+            "held_grasp_midpoint": [
+              0.3625729405199587,
+              -0.04171026251703429,
+              1.044906594259286
+            ],
+            "held_grasp_object_position": [
+              0.3674393203964767,
+              -0.029934493308228755,
+              1.044906594259286
+            ],
+            "held_grasp_finger_gap": 0.025483358770902385,
+            "held_grasp_max_gap": 0.12496578454971313,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024018537173271154,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.05196409057459607,
+              -0.9983544491658991,
+              0.024251332363591886
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005479009575804157,
+            "held_grasp_line_xy_max_dist": 0.04748289227485657,
+            "held_grasp_object_top_z": 0.045200638473033905,
+            "held_grasp_top_clearance": 0.033697123895745876,
+            "held_grasp_min_top_clearance": 0.01356019154191017,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2484426341056923,
+              -0.14577332754783898,
+              0.7565885379682706
+            ],
+            "target_position": [
+              0.25073659302948137,
+              -0.14260021821945507,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0039154655347619196,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21460991874996843,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565885379682706,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525498130276222,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08955446509536495,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18582332213332597,
+            "release_required_pad_clearance": 0.05477723254768248,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.598157307839414,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 241,
+            "max_placed_release_frames": 241
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2ae2d094280aedbf94da313e978c2e437d4be71623adad4e05c29e99566ba385",
+    "visual_seed": 2683427459002551294,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_52_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c916e3f6fa4d8e1f707e49199671b231455fe9c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_52_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2723714983697538,
+              -0.13192976000543155,
+              0.9997488388449778
+            ],
+            "current_z": 0.9997488388449778,
+            "required_z": 0.8565865374454594,
+            "initial_z": 0.7565865374454595,
+            "lift_margin": 0.14316230139951835,
+            "gripper_z": 1.0012985580815459,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2685064994257187,
+              -0.1359859415626099,
+              1.0012985580815459
+            ],
+            "object_minus_gripper": [
+              0.0038649989440350807,
+              0.004056181557178351,
+              -0.0015497192365681034
+            ],
+            "object_to_gripper_xy": 0.005602751615249963,
+            "object_to_gripper_z": -0.0015497192365681034,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2723714983697538,
+              -0.15579184865291648,
+              0.9997488388449778
+            ],
+            "finger_b": [
+              0.2622680374873255,
+              -0.13192976000543155,
+              0.9997488388449778
+            ],
+            "finger_midpoint": [
+              0.2673197679285396,
+              -0.14386080432917403,
+              0.9997488388449778
+            ],
+            "object_minus_finger_midpoint": [
+              0.005051730441214153,
+              0.011931044323742479,
+              0.0
+            ],
+            "finger_gap": 0.025912915629530905,
+            "fingertip_max_gap": 0.09353248774055717,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012956457814765475,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9997488388449778,
+            "object_top_z": 1.0453455312587252,
+            "finger_top_clearance": 0.04559669241374742,
+            "fingertip_min_top_clearance": 0.013679007724124241,
+            "object_projection_between_fingers": 0.8479775362416084,
+            "object_to_finger_line_xy": 0.009303842248772221,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04926624387027859,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.0210510058659166,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 164,
+            "max_stable_success_frames": 164,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
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+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2544538659639582,
+              -0.1368683240560471,
+              0.7565863738118683
+            ],
+            "target_position": [
+              0.2513461780675423,
+              -0.13600882334867959,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.003224355056053102,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21806774350566108,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863738118683,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532946928900759,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08639243828201333,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18919807070608896,
+            "release_required_pad_clearance": 0.05319621914100667,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4149650207807825,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 202,
+            "max_placed_release_frames": 202
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eb07881c60deeae9a0aed94b1ed5f59962ffdda4ca04bdb01d7af22176e96d16",
+    "visual_seed": 8068930585238387850,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_53_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..780f7120ead12c18cc2149fa5bbe57d908cce057
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_53_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2673806695021015,
+              -0.1339393025831468,
+              0.99892170485928
+            ],
+            "current_z": 0.99892170485928,
+            "required_z": 0.8565864885126547,
+            "initial_z": 0.7565864885126548,
+            "lift_margin": 0.14233521634662527,
+            "gripper_z": 1.0007314168908161,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26345990819353304,
+              -0.138054282706228,
+              1.0007314168908161
+            ],
+            "object_minus_gripper": [
+              0.003920761308568443,
+              0.004114980123081202,
+              -0.001809712031536126
+            ],
+            "object_to_gripper_xy": 0.0056837866473083525,
+            "object_to_gripper_z": -0.001809712031536126,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2673806695021015,
+              -0.15785160494406303,
+              0.99892170485928
+            ],
+            "finger_b": [
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+              -0.1339393025831468,
+              0.99892170485928
+            ],
+            "finger_midpoint": [
+              0.26228109646542647,
+              -0.1458954537636049,
+              0.99892170485928
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011956151180458119,
+              0.0
+            ],
+            "finger_gap": 0.02599655332588172,
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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": 0.009381438441929516,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049058460651573474,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.8737881937507503,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 163,
+            "max_stable_success_frames": 163,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.00992040629810832,
+              0.7701464494012566
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+            "gripper_position": [
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+              -0.038727453548435084,
+              1.046566764603423
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+            "held_minus_target": [
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+              0.274483527173464
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+            "held_minus_gripper": [
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+              0.004043391717257483,
+              -0.0019367880287022299
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+            "held_gripper_dist": 0.005967138700964574,
+            "max_held_gripper_dist": 0.005970361831438485,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701464494012566,
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+            "required_height": 0.8001464494012567,
+            "gripper_z": 1.046566764603423,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.66999708555828,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 3.450575902706166,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.8054921338231191,
+            "max_source_tilt_deg": 89.95060452511107,
+            "source_upright_tilt_deg": 3.1001320737969613,
+            "max_source_upright_tilt_deg": 89.82990231393448,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.8054921338231191,
+            "source_upright_return_tilt_deg": 3.1001320737969613,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.8626451488840123e-08,
+            "max_target_xy_drift": 1.3920079463711563e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3795,
+                -0.0099,
+                0.7701
+              ],
+              "controller_target_position": [
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+                -0.0099,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                -0.0018,
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+                0.0923
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+              "height_range_1": [
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+                0.4
+              ],
+              "height_range_2": [
+                0.2,
+                0.2
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+              "tilt_strategy": "wrist_velocity",
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+              "wrist_joint_name": "wrist_3_joint",
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+                "tilt_axis": [
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+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
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+                ],
+                "pour_height_range_m": [
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+                "position_threshold_m": 0.015,
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+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
+              "source_return_upright_error_deg": 3.100130833993123,
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+              "source_return_best_error_deg": 3.0987868059004446,
+              "source_return_best_wrist_position": -1.6093698740005493,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6093698740005493
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+              -0.0099,
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+              -0.0,
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.0018,
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+            "pour_controller_controller_last_pour_pose_position": [
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
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+            "pour_controller_height_range_1": [
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+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                -0.0018381592632642882,
+                -0.00015940137006947093
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 3.100130833993123,
+            "pour_controller_source_return_step_error_deg": 1.8054946933195708,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.0987868059004446,
+            "pour_controller_source_return_best_wrist_position": -1.6093698740005493,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6093698740005493,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.030861656510543088,
+            "valid_pour_held_xy_dist": 0.02577089813176829,
+            "valid_pour_held_gripper_dist": 0.005967138700964574,
+            "valid_pour_required_height": 0.8001464494012567,
+            "valid_pour_held_z": 1.0446299765747207,
+            "valid_pour_source_tilt_deg": 1.8054921338231191,
+            "valid_pour_source_upright_tilt_deg": 3.1001320737969613,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.8626451488840123e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3724074821240829,
+              -0.05833287385922831,
+              1.0446299765747207
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.362302446010595,
+              -0.0346840618311776,
+              1.0446299765747207
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.367354964067339,
+              -0.046508467845202954,
+              1.0446299765747207
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3724074821240829,
+              -0.0346840618311776,
+              1.0446299765747207
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025717271729189514,
+            "valid_pour_held_grasp_max_gap": 0.12496607512235641,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02408187015962454,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.046280577978843954,
+              -0.9985365531167306,
+              0.02797963887727639
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005603925428678982,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04748303756117821,
+            "valid_pour_held_grasp_object_top_z": 0.04520077258348465,
+            "valid_pour_held_grasp_top_clearance": 0.03362750441550169,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560231775045395,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3724074821240829,
+              -0.05833287385922831,
+              1.0446299765747207
+            ],
+            "held_grasp_finger_b": [
+              0.362302446010595,
+              -0.0346840618311776,
+              1.0446299765747207
+            ],
+            "held_grasp_midpoint": [
+              0.367354964067339,
+              -0.046508467845202954,
+              1.0446299765747207
+            ],
+            "held_grasp_object_position": [
+              0.3724074821240829,
+              -0.0346840618311776,
+              1.0446299765747207
+            ],
+            "held_grasp_finger_gap": 0.025717271729189514,
+            "held_grasp_max_gap": 0.12496607512235641,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02408187015962454,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.046280577978843954,
+              -0.9985365531167306,
+              0.02797963887727639
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005603925428678982,
+            "held_grasp_line_xy_max_dist": 0.04748303756117821,
+            "held_grasp_object_top_z": 0.04520077258348465,
+            "held_grasp_top_clearance": 0.03362750441550169,
+            "held_grasp_min_top_clearance": 0.013560231775045395,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24412605304338866,
+              -0.13147788634388927,
+              0.7565865396594089
+            ],
+            "target_position": [
+              0.24631091950518336,
+              -0.13514032675904086,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0042646349492554535,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21538998662422001,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865396594089,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529174290584399,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08870333143682273,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18777818387348003,
+            "release_required_pad_clearance": 0.054351665718411366,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.725762426131372,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 238,
+            "max_placed_release_frames": 238
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "87f55c0ad3143a376b2e24b059bc999c0b2ff6704276508afd2ffce8fb71e51f",
+    "visual_seed": 2363860880870107652,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_54_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fbb9bc2849d556c8ec54279f68700b1aa6f6686
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_54_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "reason": "executed",
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+            "required_stable_lift_frames": 5
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+          "failure_messages": {},
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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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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
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+            "valid_pour_grasp_window_ok": true,
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+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
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+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.035390862126293755,
+              -0.998992674591219,
+              0.027588457569074236
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005407698808541876,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04748292952775955,
+            "valid_pour_held_grasp_object_top_z": 0.0452006533741951,
+            "valid_pour_held_grasp_top_clearance": 0.03372318962182079,
+            "valid_pour_held_grasp_min_top_clearance": 0.01356019601225853,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3731600785713946,
+              -0.05133228824074628,
+              1.0453622504624263
+            ],
+            "held_grasp_finger_b": [
+              0.3631830343994437,
+              -0.02800076210217519,
+              1.0453622504624263
+            ],
+            "held_grasp_midpoint": [
+              0.36817155648541916,
+              -0.039666525171460736,
+              1.0453622504624263
+            ],
+            "held_grasp_object_position": [
+              0.3731600785713946,
+              -0.02800076210217519,
+              1.0453622504624263
+            ],
+            "held_grasp_finger_gap": 0.025375214725473463,
+            "held_grasp_max_gap": 0.1249658590555191,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023661119894183527,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.035390862126293755,
+              -0.998992674591219,
+              0.027588457569074236
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005407698808541876,
+            "held_grasp_line_xy_max_dist": 0.04748292952775955,
+            "held_grasp_object_top_z": 0.0452006533741951,
+            "held_grasp_top_clearance": 0.03372318962182079,
+            "held_grasp_min_top_clearance": 0.01356019601225853,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2524326982266551,
+              -0.1478311149489193,
+              0.7565865533699533
+            ],
+            "target_position": [
+              0.24950907369076009,
+              -0.13967917397104787,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.008660353464702612,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21594784653087382,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865533699533,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554613562520371,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08762771646380106,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18502273468927286,
+            "release_required_pad_clearance": 0.05381385823190053,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6369781885463848,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 201,
+            "max_placed_release_frames": 201
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "206d2416c3512061ba8c75318ec7d36d6f18ba3f9e5b1ee4f4e20fbe059d352f",
+    "visual_seed": 7881927439474597677,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_55_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddac09f6427c569a888e41394b8fc357227f4096
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_55_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2729756942896788,
+              -0.13289719459089405,
+              0.9996280891787165
+            ],
+            "current_z": 0.9996280891787165,
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+            "initial_z": 0.7565866669949916,
+            "lift_margin": 0.14304142218372495,
+            "gripper_z": 1.001132879449654,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26927532423357015,
+              -0.13695355130576142,
+              1.001132879449654
+            ],
+            "object_minus_gripper": [
+              0.0037003700561086816,
+              0.004056356714867371,
+              -0.0015047902709374172
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+            "object_to_gripper_xy": 0.00549060728429883,
+            "object_to_gripper_z": -0.0015047902709374172,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2729756942896788,
+              -0.15640595950862074,
+              0.9996280891787165
+            ],
+            "finger_b": [
+              0.26251413327612116,
+              -0.13289719459089405,
+              0.9996280891787165
+            ],
+            "finger_midpoint": [
+              0.2677449137829,
+              -0.1446515770497574,
+              0.9996280891787165
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052307805067788316,
+              0.011754382458863344,
+              0.0
+            ],
+            "finger_gap": 0.025731426054483003,
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+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012865713027241502,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.045196567144211,
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+            "fingertip_min_top_clearance": 0.013670543389648303,
+            "object_projection_between_fingers": 0.8347028852878254,
+            "object_to_finger_line_xy": 0.009557899279248577,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04931418338677171,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.1012856945616534,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 163,
+            "max_stable_success_frames": 163,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
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+              0.2520086490677182,
+              -0.13734988334077874,
+              0.7565865592616331
+            ],
+            "target_position": [
+              0.2518430771260688,
+              -0.13443668861529595,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.002917896087327703,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21686375252079912,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865592616331,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571471202955808,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08790239156250586,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18698605275628044,
+            "release_required_pad_clearance": 0.05395119578125293,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.9128559889425074,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 204,
+            "max_placed_release_frames": 204
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "639e1bdb2126ebb08693833579f08baa158f6478a3241bd4a52763f90c78a5aa",
+    "visual_seed": 3088165474618124828,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_56_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..018d6b7858cfcef72dbb344544159120d02ac961
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_56_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2732757668724474,
+              -0.131550816186635,
+              0.9961679272937478
+            ],
+            "current_z": 0.9961679272937478,
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+            "initial_z": 0.7565865958300703,
+            "lift_margin": 0.13958133146367757,
+            "gripper_z": 0.9976330974983764,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.1356094941895622,
+              0.9976330974983764
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+              0.004058678002927196,
+              -0.001465170204628552
+            ],
+            "object_to_gripper_xy": 0.005440561251009913,
+            "object_to_gripper_z": -0.001465170204628552,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2732757668724474,
+              -0.1550583539171684,
+              0.9961679272937478
+            ],
+            "finger_b": [
+              0.2628923982578888,
+              -0.131550816186635,
+              0.9961679272937478
+            ],
+            "finger_midpoint": [
+              0.26808408256516814,
+              -0.1433045850519017,
+              0.9961679272937478
+            ],
+            "object_minus_finger_midpoint": [
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+              0.01175376886526669,
+              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": 0.009498078210048375,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04911034126925286,
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+            "object_tilt_deg": 3.047302018827039,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 160,
+            "max_stable_success_frames": 160,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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+            },
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+          }
+        },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.0031877869305684393,
+              0.7701463897966117
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+              -0.032574984134853754,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.65077693323387,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "source_tilt_deg": 1.8479529202763854,
+            "max_source_tilt_deg": 89.95286864189397,
+            "source_upright_tilt_deg": 2.1906394273852543,
+            "max_source_upright_tilt_deg": 89.90598372380325,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.8479529202763854,
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+            "target_xy_drift": 4.9175243014261444e-08,
+            "max_target_xy_drift": 2.3172825837195967e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+              "controller_target_position": [
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+                -0.0032,
+                0.7701
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+              "controller_target_minus_raw_target": [
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+                0.0,
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                "position_threshold_m": 0.015,
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+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
+              "source_return_upright_error_deg": 2.1906381871392284,
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+              "wrist_compensated_return_position": -1.6096081733703613
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
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+            "pour_controller_pour_pose_offset": [
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+              0.001,
+              -0.0016
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+              -0.0282,
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+            "pour_controller_controller_t": 0.0,
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+              0.0643,
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+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                0.0009904830497186692,
+                -0.0015561018852068243
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 2.1906381871392284,
+            "pour_controller_source_return_step_error_deg": 1.8479105602684183,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.1885060100470404,
+            "pour_controller_source_return_best_wrist_position": -1.6096081733703613,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6096081733703613,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.030816003629238937,
+            "valid_pour_held_xy_dist": 0.02605788594746888,
+            "valid_pour_held_gripper_dist": 0.005634909482470877,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.0442109817296774,
+            "valid_pour_source_tilt_deg": 1.8479529202763854,
+            "valid_pour_source_upright_tilt_deg": 2.1906394273852543,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 4.9175243014261444e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3683872762324694,
+              -0.05220944182617869,
+              1.0442109817296774
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.35854764382797255,
+              -0.028645273171699258,
+              1.0442109817296774
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.363467460030221,
+              -0.04042735749893897,
+              1.0442109817296774
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3683872762324694,
+              -0.028645273171699258,
+              1.0442109817296774
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025536021816884004,
+            "valid_pour_held_grasp_max_gap": 0.12496601551771164,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023844779449282923,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.030268604462385877,
+              -0.9992691808161784,
+              0.023343432799466043
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005281264895838109,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04748300775885582,
+            "valid_pour_held_grasp_object_top_z": 0.04520074278116226,
+            "valid_pour_held_grasp_top_clearance": 0.03357618499782779,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560222834348679,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3683872762324694,
+              -0.05220944182617869,
+              1.0442109817296774
+            ],
+            "held_grasp_finger_b": [
+              0.35854764382797255,
+              -0.028645273171699258,
+              1.0442109817296774
+            ],
+            "held_grasp_midpoint": [
+              0.363467460030221,
+              -0.04042735749893897,
+              1.0442109817296774
+            ],
+            "held_grasp_object_position": [
+              0.3683872762324694,
+              -0.028645273171699258,
+              1.0442109817296774
+            ],
+            "held_grasp_finger_gap": 0.025536021816884004,
+            "held_grasp_max_gap": 0.12496601551771164,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023844779449282923,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.030268604462385877,
+              -0.9992691808161784,
+              0.023343432799466043
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005281264895838109,
+            "held_grasp_line_xy_max_dist": 0.04748300775885582,
+            "held_grasp_object_top_z": 0.04520074278116226,
+            "held_grasp_top_clearance": 0.03357618499782779,
+            "held_grasp_min_top_clearance": 0.013560222834348679,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2562038948263045,
+              -0.1348736928480732,
+              0.7565865124496988
+            ],
+            "target_position": [
+              0.2521686430612884,
+              -0.13414702197138662,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.004100159432277019,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21945756968848235,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865124496988,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543283032561801,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0850680025653719,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1901517112551471,
+            "release_required_pad_clearance": 0.052534001282685955,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1370559466907708,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 203,
+            "max_placed_release_frames": 203
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c75601198d220e048cd2e55d05ab2de601612aa1d1703c0d9f6d52e72bcfa175",
+    "visual_seed": 4482550539545200531,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_57_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e367fca0a9477578c0049ec968de8ec9348a6ea
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_57_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
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+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3692266821552165,
+              -0.05363514778523639,
+              1.0483666333217196
+            ],
+            "held_grasp_finger_b": [
+              0.3594300885703221,
+              -0.03029492555309831,
+              1.0483666333217196
+            ],
+            "held_grasp_midpoint": [
+              0.3643283853627693,
+              -0.04196503666916735,
+              1.0483666333217196
+            ],
+            "held_grasp_object_position": [
+              0.3692266821552165,
+              -0.03029492555309831,
+              1.0483666333217196
+            ],
+            "held_grasp_finger_gap": 0.02531282717740526,
+            "held_grasp_max_gap": 0.12496606022119522,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023624361572779938,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.03138405526652829,
+              -0.9990009737860132,
+              0.0318134476224301
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0052750480300109825,
+            "held_grasp_line_xy_max_dist": 0.04748303011059761,
+            "held_grasp_object_top_z": 0.045200783759355545,
+            "held_grasp_top_clearance": 0.033696059807457615,
+            "held_grasp_min_top_clearance": 0.013560235127806663,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2487681188661434,
+              -0.14085950956098303,
+              0.7565864601668187
+            ],
+            "target_position": [
+              0.24926922469811844,
+              -0.13956968045350618,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0013837507656127741,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21726367226509147,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864601668187,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525952171196382,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08689865107921378,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18850842544264174,
+            "release_required_pad_clearance": 0.05344932553960689,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9122696676987663,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0fc3aeb9e93a416717b25d09f856b2508fe5c0c731feb54eb116a787c0a3fe0f",
+    "visual_seed": 8177565688119050071,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_58_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c22b3c0b1a06e691760d331f5ac7e33db1c0793b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_58_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27054534271718267,
+              -0.13635599320498393,
+              0.9972777608891104
+            ],
+            "current_z": 0.9972777608891104,
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+            "initial_z": 0.7565865829485966,
+            "lift_margin": 0.14069117794051378,
+            "gripper_z": 0.9987575095484826,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26691765360446257,
+              -0.14030965801162054,
+              0.9987575095484826
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+              0.0036276891127201005,
+              0.003953664806636614,
+              -0.001479748659372282
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+            "object_to_gripper_xy": 0.0053657798782455555,
+            "object_to_gripper_z": -0.001479748659372282,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27054534271718267,
+              -0.15996378254268653,
+              0.9972777608891104
+            ],
+            "finger_b": [
+              0.26041354757033036,
+              -0.13635599320498393,
+              0.9972777608891104
+            ],
+            "finger_midpoint": [
+              0.26547944514375654,
+              -0.14815988787383522,
+              0.9972777608891104
+            ],
+            "object_minus_finger_midpoint": [
+              0.005065897573426126,
+              0.011803894668851289,
+              0.0
+            ],
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+            "fingertip_max_gap": 0.09390130885676251,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0428690274278571,
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+            "fingertip_min_top_clearance": 0.01367737996162402,
+            "object_projection_between_fingers": 0.8444602580910888,
+            "object_to_finger_line_xy": 0.00931056439348089,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04945065442838126,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.0832488980325077,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
+            "max_stable_success_frames": 161,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18971918457154596,
+            "release_required_pad_clearance": 0.05258167476041278,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.22728080352039387,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 202,
+            "max_placed_release_frames": 202
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "66d3126f577ec406d49387aca50c624916e24d7b311e60fa8be956e6789bbc43",
+    "visual_seed": 1634812979258722510,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_59_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb62b85c45f434e2d730310f5fdd66c40e06b4f1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_59_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.26980365908876014,
+              -0.13751084503312752,
+              0.996720477647388
+            ],
+            "current_z": 0.996720477647388,
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+            "initial_z": 0.7565865977000309,
+            "lift_margin": 0.14013387994735715,
+            "gripper_z": 0.9982138125850273,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.14150649650931613,
+              0.9982138125850273
+            ],
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+              0.003995651476188605,
+              -0.0014933349376392568
+            ],
+            "object_to_gripper_xy": 0.0053371453728996154,
+            "object_to_gripper_z": -0.0014933349376392568,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26980365908876014,
+              -0.16087103515394058,
+              0.996720477647388
+            ],
+            "finger_b": [
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+              -0.13751084503312752,
+              0.996720477647388
+            ],
+            "finger_midpoint": [
+              0.2645537204450231,
+              -0.14919094009353406,
+              0.996720477647388
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011680095060406542,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.009576935969120215,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04915266481454965,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 159,
+            "max_stable_success_frames": 159,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.007288651683695538,
+              0.7701463897966119
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+            "gripper_position": [
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+              -0.03582508239928621,
+              1.0467294322928065
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+              0.0038399401360319496,
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+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "gripper_z": 1.0467294322928065,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.70671618253627,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_tilt_deg": 1.9764236092511025,
+            "max_source_tilt_deg": 89.94893603275833,
+            "source_upright_tilt_deg": 2.009237697332069,
+            "max_source_upright_tilt_deg": 89.99431415160488,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.9764236092511025,
+            "source_upright_return_tilt_deg": 2.009237697332069,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 9.12327796253694e-08,
+            "max_target_xy_drift": 1.646841937280439e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3792,
+                -0.0073,
+                0.7701
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+              "controller_target_position": [
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+                -0.0073,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0,
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                0.0012,
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              ],
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+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                  0.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
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+                  0.2
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+                "position_threshold_m": 0.015,
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+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3792,
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
+              -0.0,
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+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.0014,
+              0.0012,
+              0.0019
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.3806,
+              -0.0318,
+              1.0378
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.0671,
+              0.0641,
+              0.0925
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+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
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+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0014010987369472137,
+                0.0011510309198407924,
+                0.0019368557575001532
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+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 2.0092356875154955,
+            "pour_controller_source_return_step_error_deg": 1.9764170175348494,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.004113311058113,
+            "pour_controller_source_return_best_wrist_position": -1.6079336404800415,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6079336404800415,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.029967443605117165,
+            "valid_pour_held_xy_dist": 0.025297549820641075,
+            "valid_pour_held_gripper_dist": 0.0055426607050810765,
+            "valid_pour_required_height": 0.8001463897966119,
+            "valid_pour_held_z": 1.0451417180187779,
+            "valid_pour_source_tilt_deg": 1.9764236092511025,
+            "valid_pour_source_upright_tilt_deg": 2.009237697332069,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 9.12327796253694e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37371930438123535,
+              -0.05551535706507217,
+              1.0451417180187779
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3640278649409618,
+              -0.03198514226325426,
+              1.0451417180187779
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.36887358466109854,
+              -0.043750249664163215,
+              1.0451417180187779
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37371930438123535,
+              -0.03198514226325426,
+              1.0451417180187779
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02544788806648168,
+            "valid_pour_held_grasp_max_gap": 0.12496602296829223,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02374185340907509,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.023330395946262707,
+              -0.9993851942153749,
+              0.026171094896624395
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005128048557889972,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04748301148414612,
+            "valid_pour_held_grasp_object_top_z": 0.04520081728696823,
+            "valid_pour_held_grasp_top_clearance": 0.0335559957018615,
+            "valid_pour_held_grasp_min_top_clearance": 0.01356024518609047,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37371930438123535,
+              -0.05551535706507217,
+              1.0451417180187779
+            ],
+            "held_grasp_finger_b": [
+              0.3640278649409618,
+              -0.03198514226325426,
+              1.0451417180187779
+            ],
+            "held_grasp_midpoint": [
+              0.36887358466109854,
+              -0.043750249664163215,
+              1.0451417180187779
+            ],
+            "held_grasp_object_position": [
+              0.37371930438123535,
+              -0.03198514226325426,
+              1.0451417180187779
+            ],
+            "held_grasp_finger_gap": 0.02544788806648168,
+            "held_grasp_max_gap": 0.12496602296829223,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02374185340907509,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.023330395946262707,
+              -0.9993851942153749,
+              0.026171094896624395
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005128048557889972,
+            "held_grasp_line_xy_max_dist": 0.04748301148414612,
+            "held_grasp_object_top_z": 0.04520081728696823,
+            "held_grasp_top_clearance": 0.0335559957018615,
+            "held_grasp_min_top_clearance": 0.01356024518609047,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.23408192619813573,
+              -0.12832836754849147,
+              0.7565873710075705
+            ],
+            "target_position": [
+              0.2481621936703319,
+              -0.1398886165344146,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.01821793865137113,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20775486187680492,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565873710075705,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07717331766514027,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09094038214167906,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18314263210502452,
+            "release_required_pad_clearance": 0.05547019107083953,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.073598873023142,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 193,
+            "max_placed_release_frames": 193
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "189817d64182af92d968214e54182df5d9d6e315fa802ebb02d09e3c35288e21",
+    "visual_seed": 4019119708990935270,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_5_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5194e7b73a81fc54709ac0ce4ba4268bf6f46efd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_5_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.26894706531380863,
+              -0.1341208660750849,
+              0.9992350722506135
+            ],
+            "current_z": 0.9992350722506135,
+            "required_z": 0.8565865245981303,
+            "initial_z": 0.7565865245981304,
+            "lift_margin": 0.14264854765248314,
+            "gripper_z": 1.0008982511623374,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26485453187080454,
+              -0.13827804320972265,
+              1.0008982511623374
+            ],
+            "object_minus_gripper": [
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+            "held_grasp_z_skew": 0.02422141995906227,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.0401959135837788,
+              -0.9986739328338723,
+              0.03216619979562274
+            ],
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+            "held_grasp_object_to_finger_line_xy": 0.005502824649904604,
+            "held_grasp_line_xy_max_dist": 0.04748311951756477,
+            "held_grasp_object_top_z": 0.04520086571574211,
+            "held_grasp_top_clearance": 0.03349327121203382,
+            "held_grasp_min_top_clearance": 0.013560259714722633,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24026442921332597,
+              -0.1459070650825354,
+              0.7565861648437179
+            ],
+            "target_position": [
+              0.24774548456782636,
+              -0.1362367861085215,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.012226221192680685,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21258724554475916,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565861648437179,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583790908922915,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08639964249329408,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18175409129962874,
+            "release_required_pad_clearance": 0.053199821246647044,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4210365154906015,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 204,
+            "max_placed_release_frames": 204
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3c7fbaa1babe799048f3295622145f0358271f453cc1dc420009b11a2f475988",
+    "visual_seed": 6412036000944526951,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_61_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4c4d25d1f9824016b7852c981466d7000eff796
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_61_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.2672805619669496,
+              -0.13323608150432129,
+              0.9962581495533491
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+            "gripper_position": [
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+              0.2672805619669496,
+              -0.15703463098072581,
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+              -0.13323608150432129,
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+            "finger_midpoint": [
+              0.26211734099601736,
+              -0.14513535624252355,
+              0.9962581495533491
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011899274738202265,
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+            "object_to_finger_line_xy": 0.009473088855841187,
+            "fingertip_xy_max_dist": 0.055,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 160,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.0009159308656602332,
+              0.7701465090059011
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+            "gripper_position": [
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+              -0.030695823263360275,
+              1.0441001441646007
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+            "target_minus_gripper": [
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "079e19d26a442e584c597a6551c83aa865b559ccbba1e0fc055ab4f7df78d74a",
+    "visual_seed": 4002885164373261138,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_62_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..401ec70a4e1359c1bd2d2983fac955a98942026e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_62_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.2701881409203926,
+              -0.13170653573335653,
+              0.9972035052676261
+            ],
+            "current_z": 0.9972035052676261,
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+            "initial_z": 0.7565866150412814,
+            "lift_margin": 0.14061689022634472,
+            "gripper_z": 0.9987939450968732,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26668612948854,
+              -0.13567940232748327,
+              0.9987939450968732
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+              0.003972866594126739,
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+            ],
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+            "object_to_gripper_z": -0.0015904398292471145,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2701881409203926,
+              -0.1550268773810916,
+              0.9972035052676261
+            ],
+            "finger_b": [
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+              -0.13170653573335653,
+              0.9972035052676261
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+            "finger_midpoint": [
+              0.26496477608633495,
+              -0.14336670655722406,
+              0.9972035052676261
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011660170823867527,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.009533839163422767,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04931264147879044,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 160,
+            "max_stable_success_frames": 160,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.006679881506927229,
+              0.7701463897966117
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+              -0.033567568508669265,
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+            "wrist_idx": 5,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "source_tilt_deg": 2.213263102987335,
+            "max_source_tilt_deg": 89.74165611316798,
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+            "max_source_upright_tilt_deg": 89.94671881934401,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.213263102987335,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 6.179274399870759e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              1.0
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.7701
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+              "controller_target_position": [
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+                -0.0067,
+                0.7701
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+              "controller_target_minus_raw_target": [
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+                -0.0,
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+              "pour_pose_offset": [
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+              "resolved_tilt_axis_world": null,
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+              "wrist_joint_name": "wrist_3_joint",
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+                "approach_height_range_m": [
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+                "pour_height_range_m": [
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+              "wrist_compensated_return_position": -1.6081148386001587
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+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+            "pour_controller_motion_plan": {
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+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
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+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
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+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                0.0011241733556255238,
+                0.0005728358646801012
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+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
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+            "pour_controller_source_return_best_error_deg": 2.3177207684333228,
+            "pour_controller_source_return_best_wrist_position": -1.6081148386001587,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6081148386001587,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.028053568904999198,
+            "valid_pour_held_xy_dist": 0.02349032006240321,
+            "valid_pour_held_gripper_dist": 0.005530037659576624,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.0458156201217619,
+            "valid_pour_source_tilt_deg": 2.213263102987335,
+            "valid_pour_source_upright_tilt_deg": 2.3198002060426677,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.179274399870759e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.36941049963884964,
+              -0.05317852038375491,
+              1.0458156201217619
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.359817520321476,
+              -0.029760966906790136,
+              1.0458156201217619
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3646140099801628,
+              -0.04146974364527252,
+              1.0458156201217619
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.36941049963884964,
+              -0.029760966906790136,
+              1.0458156201217619
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02530626529201935,
+            "valid_pour_held_grasp_max_gap": 0.1249661049246788,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023637496067558494,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.02492800697350449,
+              -0.999180475247112,
+              0.03189000397121854
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005100421672327238,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.0474830524623394,
+            "valid_pour_held_grasp_object_top_z": 0.04520079493522644,
+            "valid_pour_held_grasp_top_clearance": 0.033621180756767365,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560238480567931,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36941049963884964,
+              -0.05317852038375491,
+              1.0458156201217619
+            ],
+            "held_grasp_finger_b": [
+              0.359817520321476,
+              -0.029760966906790136,
+              1.0458156201217619
+            ],
+            "held_grasp_midpoint": [
+              0.3646140099801628,
+              -0.04146974364527252,
+              1.0458156201217619
+            ],
+            "held_grasp_object_position": [
+              0.36941049963884964,
+              -0.029760966906790136,
+              1.0458156201217619
+            ],
+            "held_grasp_finger_gap": 0.02530626529201935,
+            "held_grasp_max_gap": 0.1249661049246788,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023637496067558494,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.02492800697350449,
+              -0.999180475247112,
+              0.03189000397121854
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005100421672327238,
+            "held_grasp_line_xy_max_dist": 0.0474830524623394,
+            "held_grasp_object_top_z": 0.04520079493522644,
+            "held_grasp_top_clearance": 0.033621180756767365,
+            "held_grasp_min_top_clearance": 0.013560238480567931,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24069439358871106,
+              -0.13151798329025258,
+              0.7565863922400278
+            ],
+            "target_position": [
+              0.24898531770304172,
+              -0.13334233662905376,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.008489268977620198,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.210658070024364,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863922400278,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561811839991353,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09283144344868259,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1826670326703513,
+            "release_required_pad_clearance": 0.0564157217243413,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.170567971005658,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1dd8a340ccd6158c6e7e7357eddd6bea52753430f5a054b86c27f0b08cd72bc5",
+    "visual_seed": 3551211149724770291,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_64_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..721cf956bdea6f76dc7798d47a0e8576bf517caa
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_64_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.26821334038131917,
+              -0.1296283341034023,
+              0.9964821430248352
+            ],
+            "current_z": 0.9964821430248352,
+            "required_z": 0.8565865499136027,
+            "initial_z": 0.7565865499136027,
+            "lift_margin": 0.13989559311123245,
+            "gripper_z": 0.9980849204007876,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26460328506231334,
+              -0.1336493089469122,
+              0.9980849204007876
+            ],
+            "object_minus_gripper": [
+              0.0036100553190058227,
+              0.004020974843509911,
+              -0.00160277737595238
+            ],
+            "object_to_gripper_xy": 0.005403770729631466,
+            "object_to_gripper_z": -0.00160277737595238,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26821334038131917,
+              -0.15309215330766765,
+              0.9964821430248352
+            ],
+            "finger_b": [
+              0.25780550481229314,
+              -0.1296283341034023,
+              0.9964821430248352
+            ],
+            "finger_midpoint": [
+              0.26300942259680615,
+              -0.14136024370553496,
+              0.9964821430248352
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052039177845130125,
+              0.011731909602132662,
+              0.0
+            ],
+            "finger_gap": 0.02566853819138002,
+            "fingertip_max_gap": 0.09308305803235456,
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+          "safety": {
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+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2324922278040625,
+              -0.13336805747203026,
+              0.7565863160342492
+            ],
+            "target_position": [
+              0.24706997319119328,
+              -0.13363355764417123,
+              0.7730800627579277
+            ],
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+            "xy_dist": 0.014580162924789952,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20588047075329793,
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+            "gripper_away_ok": true,
+            "object_z": 0.7565863160342492,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552947646440085,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0906789403387052,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1784049899381306,
+            "release_required_pad_clearance": 0.0553394701693526,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.7970803510059845,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 195,
+            "max_placed_release_frames": 195
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d92e775cc8b6e940f6a85c475d348670bb959a15410f4b70c4c36659c03fd0ac",
+    "visual_seed": 5615680127976478177,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_65_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b034002990d8a26ee6a57d72bbc1378fe27a416f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_65_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+          "skill": "pick",
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+              1.0
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "metrics": {
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+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4883dc635c508b7c60f8274fb1474964f0466b646a085352f46bc99eb76ab9a6",
+    "visual_seed": 92012254501355224,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_66_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dfe4fcbbc999a3acc806c86b916dd1b03f5cd10
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_66_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+              0.26689691324208437,
+              -0.1360404013598498,
+              0.9968868680809375
+            ],
+            "current_z": 0.9968868680809375,
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+            "initial_z": 0.7565864947017376,
+            "lift_margin": 0.14030037337919998,
+            "gripper_z": 0.9980455813822259,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2634154444781842,
+              -0.14000432666834783,
+              0.9980455813822259
+            ],
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+              0.00396392530849804,
+              -0.001158713301288361
+            ],
+            "object_to_gripper_xy": 0.00527573014902807,
+            "object_to_gripper_z": -0.001158713301288361,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26689691324208437,
+              -0.15936692030016045,
+              0.9968868680809375
+            ],
+            "finger_b": [
+              0.2564170938946423,
+              -0.1360404013598498,
+              0.9968868680809375
+            ],
+            "finger_midpoint": [
+              0.2616570035683633,
+              -0.14770366083000513,
+              0.9968868680809375
+            ],
+            "object_minus_finger_midpoint": [
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+              0.01166325947015534,
+              0.0
+            ],
+            "finger_gap": 0.02557250670989633,
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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": 0.013580384053546184,
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+            "object_to_finger_line_xy": 0.009559395458269213,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049008391902970586,
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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": 159,
+            "max_stable_success_frames": 159,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.378509681583089,
+              -0.008135053471989857,
+              0.7701464494012562
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+            "gripper_position": [
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+              -0.03856289237228362,
+              1.0453111960958743
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+              0.030427838900293765,
+              -0.2751647466946181
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+              -0.0347835669871668,
+              1.0440628550422084
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+              0.2739164056409522
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+              0.0037793253851168204,
+              -0.0012483410536658912
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.8001464494012562,
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+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.84534170193085,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
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+            "source_upright_axis_local": [
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+            "source_start_max_tilt_deg": 20.0,
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+            "max_source_tilt_deg": 89.93737941260775,
+            "source_upright_tilt_deg": 1.5723864074738183,
+            "max_source_upright_tilt_deg": 89.90280450532177,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.3168968004847117,
+            "source_upright_return_tilt_deg": 1.5723864074738183,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 6.332993507385254e-08,
+            "max_target_xy_drift": 1.6118070224511577e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                -0.0081,
+                0.7701
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+              "controller_target_position": [
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+                -0.0081,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+                0.4
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+                0.2
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+              "source_pose_feedback": true,
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+              "source_pose_held_object": "beaker_b",
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_lock_target_position": true,
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+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0632,
+              0.0922
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
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+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
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+            "pour_controller_source_return_step_error_deg": 2.3168683958559733,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.310503190917816,
+            "pour_controller_source_return_best_wrist_position": -1.6080093383789062,
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+            "pour_controller_wrist_compensated_return_position": -1.6080093383789062,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03205523791955713,
+            "valid_pour_held_xy_dist": 0.027413562284469593,
+            "valid_pour_held_gripper_dist": 0.005402216258967517,
+            "valid_pour_required_height": 0.8001464494012562,
+            "valid_pour_held_z": 1.0440628550422084,
+            "valid_pour_source_tilt_deg": 2.3168968004847117,
+            "valid_pour_source_upright_tilt_deg": 1.5723864074738183,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.332993507385254e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37207849782300834,
+              -0.05851413708189684,
+              1.0440628550422084
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.36267925782412364,
+              -0.0347835669871668,
+              1.0440628550422084
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.367378877823566,
+              -0.04664885203453182,
+              1.0440628550422084
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37207849782300834,
+              -0.0347835669871668,
+              1.0440628550422084
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025524217315669635,
+            "valid_pour_held_grasp_max_gap": 0.1249661049246788,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023811253905846597,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.009534734588463335,
+              -0.9996234625813707,
+              0.025729786107904988
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004822175812325083,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.0474830524623394,
+            "valid_pour_held_grasp_object_top_z": 0.04520074278116226,
+            "valid_pour_held_grasp_top_clearance": 0.03338473508696159,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560222834348679,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37207849782300834,
+              -0.05851413708189684,
+              1.0440628550422084
+            ],
+            "held_grasp_finger_b": [
+              0.36267925782412364,
+              -0.0347835669871668,
+              1.0440628550422084
+            ],
+            "held_grasp_midpoint": [
+              0.367378877823566,
+              -0.04664885203453182,
+              1.0440628550422084
+            ],
+            "held_grasp_object_position": [
+              0.37207849782300834,
+              -0.0347835669871668,
+              1.0440628550422084
+            ],
+            "held_grasp_finger_gap": 0.025524217315669635,
+            "held_grasp_max_gap": 0.1249661049246788,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023811253905846597,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.009534734588463335,
+              -0.9996234625813707,
+              0.025729786107904988
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004822175812325083,
+            "held_grasp_line_xy_max_dist": 0.0474830524623394,
+            "held_grasp_object_top_z": 0.04520074278116226,
+            "held_grasp_top_clearance": 0.03338473508696159,
+            "held_grasp_min_top_clearance": 0.013560222834348679,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24763942576864634,
+              -0.14151969687362623,
+              0.7565862811300825
+            ],
+            "target_position": [
+              0.24482120459857243,
+              -0.14114754489852374,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0028426866967756815,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21977105037991645,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565862811300825,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758821283960152,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09212974544493634,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1897396324460522,
+            "release_required_pad_clearance": 0.05606487272246817,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 7.382820817711664,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 201,
+            "max_placed_release_frames": 201
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bdb58bf80f51f372cab7c3778c11ec5aa4e6fafab8dac8ed235cb35ef6ed195f",
+    "visual_seed": 3924742937788821740,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_67_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4c7ba7a25428afd5a20028f2764d3827f1b0dc3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_67_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27098327025612223,
+              -0.1323524440761546,
+              0.9969171009377498
+            ],
+            "current_z": 0.9969171009377498,
+            "required_z": 0.8565866186919487,
+            "initial_z": 0.7565866186919488,
+            "lift_margin": 0.14033048224580102,
+            "gripper_z": 0.9979987017397356,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26735964026728715,
+              -0.13636510076570008,
+              0.9979987017397356
+            ],
+            "object_minus_gripper": [
+              0.0036236299888350865,
+              0.00401265668954548,
+              -0.001081600801985827
+            ],
+            "object_to_gripper_xy": 0.005406672544563713,
+            "object_to_gripper_z": -0.001081600801985827,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27098327025612223,
+              -0.15582341845483064,
+              0.9969171009377498
+            ],
+            "finger_b": [
+              0.26058508602731256,
+              -0.1323524440761546,
+              0.9969171009377498
+            ],
+            "finger_midpoint": [
+              0.2657841781417174,
+              -0.14408793126549263,
+              0.9969171009377498
+            ],
+            "object_minus_finger_midpoint": [
+              0.005199092114404835,
+              0.011735487189338034,
+              0.0
+            ],
+            "finger_gap": 0.025671168137440362,
+            "fingertip_max_gap": 0.09337296119997826,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012835584068720195,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9969171009377498,
+            "object_top_z": 1.0423601662102633,
+            "finger_top_clearance": 0.045443065272513516,
+            "fingertip_min_top_clearance": 0.013632919581754038,
+            "object_projection_between_fingers": 0.8359320494800847,
+            "object_to_finger_line_xy": 0.009506989098139232,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04918648059998913,
+            "require_object_upright": true,
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+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "target": "beaker_b",
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+              0.7565896345724972
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+              -0.13611887604703704,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17963792378871957,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.8730800627579277,
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+            "object_tilt_deg": 0.669084530555723,
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 197,
+            "max_placed_release_frames": 197
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5a3f414ca2c725a55aaf8360fe08104c0dfe8fe8120cbbfa0e59711e38470e05",
+    "visual_seed": 3474457409024294919,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_70_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b24064a61fdac8182bde4c40d5cb8f91624301a7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_70_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "failure_messages": {},
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "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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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "metrics": {
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
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+                "gripper",
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+                "panda_rightfingertip",
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+                "shoulder_pan_joint",
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+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "09e923415883cffac35d5aa743b63a609e9fa2c5ef6d7c81a524361e70051ca4",
+    "visual_seed": 3459360605796389943,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_71_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e14d2e049fc22f93941c8a7cc4c795c61eef2b0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_71_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+              -0.13735459123512578,
+              0.9988159511367767
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+            "required_z": 0.8565865706520611,
+            "initial_z": 0.7565865706520611,
+            "lift_margin": 0.14222938048471556,
+            "gripper_z": 1.0008215195119743,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.141395767105496,
+              1.0008215195119743
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+              0.004041175870370228,
+              -0.0020055683751976083
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+            "object_to_gripper_xy": 0.005541718120749865,
+            "object_to_gripper_z": -0.0020055683751976083,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26597811627231227,
+              -0.16114541534862334,
+              0.9988159511367767
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+              -0.13735459123512578,
+              0.9988159511367767
+            ],
+            "finger_midpoint": [
+              0.26089060410126125,
+              -0.14925000329187454,
+              0.9988159511367767
+            ],
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+              0.011895412056748766,
+              0.0
+            ],
+            "finger_gap": 0.025875363424727897,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "finger_top_clearance": 0.0454304703422832,
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+            "object_to_finger_line_xy": 0.00935531650319426,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04903920187439406,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 162,
+            "max_stable_success_frames": 162,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.37980351960722847,
+              -0.009340374873347504,
+              0.7701464494012564
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+              -0.03869478636331787,
+              1.0451286302399005
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+              -0.03474074802022702,
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+              0.2728621132447697
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+              0.003954038343090847,
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+            "gripper_z": 1.0451286302399005,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.76188362046247,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_tilt_deg": 1.8168943728349127,
+            "max_source_tilt_deg": 89.90574509259318,
+            "source_upright_tilt_deg": 2.887193039591715,
+            "max_source_upright_tilt_deg": 89.97804627866044,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.8168943728349127,
+            "source_upright_return_tilt_deg": 2.887193039591715,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.514431838620381e-08,
+            "max_target_xy_drift": 1.064318763253216e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                -0.0093,
+                0.7701
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+              "controller_target_position": [
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+                -0.0093,
+                0.7701
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+              "controller_target_minus_raw_target": [
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+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+              "source_pose_feedback": true,
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+              "source_pose_held_object": "beaker_b",
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+            "pour_controller_controller_t": 0.0,
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+            "pour_controller_height_range_1": [
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+              0.4
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+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
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+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                -0.0012490537655508983,
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+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 2.8871933356637576,
+            "pour_controller_source_return_step_error_deg": 1.8169054846981387,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
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+            "pour_controller_wrist_compensated_return_position": -1.6092966794967651,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03084891091492778,
+            "valid_pour_held_xy_dist": 0.026023517918449264,
+            "valid_pour_held_gripper_dist": 0.005895520978637698,
+            "valid_pour_required_height": 0.8001464494012565,
+            "valid_pour_held_z": 1.0430085626460261,
+            "valid_pour_source_tilt_deg": 1.8168943728349127,
+            "valid_pour_source_upright_tilt_deg": 2.887193039591715,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.514431838620381e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37414273089441363,
+              -0.058302872396517186,
+              1.0430085626460261
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.36415217317918214,
+              -0.03474074802022702,
+              1.0430085626460261
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3691474520367979,
+              -0.04652181020837211,
+              1.0430085626460261
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37414273089441363,
+              -0.03474074802022702,
+              1.0430085626460261
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02559267372872828,
+            "valid_pour_held_grasp_max_gap": 0.12496589630842209,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023963979281132572,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.043217160699701024,
+              -0.9987306478423277,
+              0.02587218741236951
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0055080408614914455,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.047482948154211044,
+            "valid_pour_held_grasp_object_top_z": 0.04520069435238838,
+            "valid_pour_held_grasp_top_clearance": 0.03365046825008089,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560208305716514,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37414273089441363,
+              -0.058302872396517186,
+              1.0430085626460261
+            ],
+            "held_grasp_finger_b": [
+              0.36415217317918214,
+              -0.03474074802022702,
+              1.0430085626460261
+            ],
+            "held_grasp_midpoint": [
+              0.3691474520367979,
+              -0.04652181020837211,
+              1.0430085626460261
+            ],
+            "held_grasp_object_position": [
+              0.37414273089441363,
+              -0.03474074802022702,
+              1.0430085626460261
+            ],
+            "held_grasp_finger_gap": 0.02559267372872828,
+            "held_grasp_max_gap": 0.12496589630842209,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023963979281132572,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.043217160699701024,
+              -0.9987306478423277,
+              0.02587218741236951
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0055080408614914455,
+            "held_grasp_line_xy_max_dist": 0.047482948154211044,
+            "held_grasp_object_top_z": 0.04520069435238838,
+            "held_grasp_top_clearance": 0.03365046825008089,
+            "held_grasp_min_top_clearance": 0.013560208305716514,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25585925438195845,
+              -0.14536748338676955,
+              0.7565955336946136
+            ],
+            "target_position": [
+              0.24472520606577572,
+              -0.13981333940110588,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.01244248959495548,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.22162728499779213,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565955336946136,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754060293510724,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08826111060058552,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.19090442755992104,
+            "release_required_pad_clearance": 0.05413055530029276,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.2436267078170538,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 202,
+            "max_placed_release_frames": 202
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b4570332d31bd31596e674ad523eee6cf46c377180f5204113c66bbd9704d222",
+    "visual_seed": 1609445936745592269,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_72_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cb86d229adc74c492b79459c8e11e2a5ec35b75
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_72_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2728011052976143,
+              -0.1343175020706147,
+              0.9981807672251025
+            ],
+            "current_z": 0.9981807672251025,
+            "required_z": 0.8565866177896418,
+            "initial_z": 0.7565866177896419,
+            "lift_margin": 0.14159414943546067,
+            "gripper_z": 0.9997309095629335,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26904540870556115,
+              -0.1383065878143762,
+              0.9997309095629335
+            ],
+            "object_minus_gripper": [
+              0.0037556965920531593,
+              0.003989085743761472,
+              -0.0015501423378310175
+            ],
+            "object_to_gripper_xy": 0.005478874151013211,
+            "object_to_gripper_z": -0.0015501423378310175,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2728011052976143,
+              -0.158116746084727,
+              0.9981807672251025
+            ],
+            "finger_b": [
+              0.26280769495158585,
+              -0.1343175020706147,
+              0.9981807672251025
+            ],
+            "finger_midpoint": [
+              0.26780440012460005,
+              -0.14621712407767085,
+              0.9981807672251025
+            ],
+            "object_minus_finger_midpoint": [
+              0.00499670517301426,
+              0.011899622007056132,
+              0.0
+            ],
+            "finger_gap": 0.025812250308475015,
+            "fingertip_max_gap": 0.09360774577642053,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012906125154237506,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9981807672251025,
+            "object_top_z": 1.043799900898772,
+            "finger_top_clearance": 0.04561913367366943,
+            "fingertip_min_top_clearance": 0.01368574010210083,
+            "object_projection_between_fingers": 0.8501089487852072,
+            "object_to_finger_line_xy": 0.009214059545989908,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04930387288821027,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.0325526018084057,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 163,
+            "max_stable_success_frames": 163,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
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+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
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+        "attach_object": null,
+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
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+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
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+              -0.138371218809955,
+              0.7565870991797614
+            ],
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+              0.25171255602294473,
+              -0.13750574017856465,
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+            "xy_dist": 0.0011954145071687437,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21510097742588763,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1856907476176049,
+            "release_required_pad_clearance": 0.052706091734282826,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.46477880377183217,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 203,
+            "max_placed_release_frames": 203
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3d110e96c470bbe26c97ca0d9e440da9476e125b7bcec93513f3de480e8bdf69",
+    "visual_seed": 2849562573551725439,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_73_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..688616d07aab5520add4e8f0160b56ef12319e2a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_73_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "skill": "pick",
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+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "target_xy_drift": 1.1057274102908246e-07,
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+            "target_upright_reference_source": "scene_initial",
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+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0ca89870bcb85a11e9ed6fc149f5898d1f966f3350c15b11676f1419fda0a992",
+    "visual_seed": 7609703479358497628,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_75_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..03a80dd3b8aa12081051c7be3c5507eee1c5d585
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_75_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
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+      "target": "beaker_b",
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+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
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+              0.9972032248517995
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+              -0.13850168965647175,
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+              -0.1343790113473942,
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+              -0.14635994673420932,
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+              0.011980935386815134,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+            },
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+          }
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "virtual_attach_allowed": false,
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+            "source_tilt_threshold_deg": 30.0,
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+            "target_max_tilt_deg": 20.0,
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+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 2.984685435724701e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.36554213444032746,
+              -0.050956564009652525,
+              1.0448936918251845
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3557173046099662,
+              -0.027130581022200936,
+              1.0448936918251845
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.36062971952514683,
+              -0.03904357251592673,
+              1.0448936918251845
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.36554213444032746,
+              -0.027130581022200936,
+              1.0448936918251845
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02577217000009679,
+            "valid_pour_held_grasp_max_gap": 0.12496618688106537,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024160379058228806,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.03647216335197858,
+              -0.9989953519351661,
+              0.026039741019453826
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005352500482476762,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.047483093440532684,
+            "valid_pour_held_grasp_object_top_z": 0.04520079120993614,
+            "valid_pour_held_grasp_top_clearance": 0.03347893447930006,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560237362980843,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36554213444032746,
+              -0.050956564009652525,
+              1.0448936918251845
+            ],
+            "held_grasp_finger_b": [
+              0.3557173046099662,
+              -0.027130581022200936,
+              1.0448936918251845
+            ],
+            "held_grasp_midpoint": [
+              0.36062971952514683,
+              -0.03904357251592673,
+              1.0448936918251845
+            ],
+            "held_grasp_object_position": [
+              0.36554213444032746,
+              -0.027130581022200936,
+              1.0448936918251845
+            ],
+            "held_grasp_finger_gap": 0.02577217000009679,
+            "held_grasp_max_gap": 0.12496618688106537,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024160379058228806,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.03647216335197858,
+              -0.9989953519351661,
+              0.026039741019453826
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005352500482476762,
+            "held_grasp_line_xy_max_dist": 0.047483093440532684,
+            "held_grasp_object_top_z": 0.04520079120993614,
+            "held_grasp_top_clearance": 0.03347893447930006,
+            "held_grasp_min_top_clearance": 0.013560237362980843,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24192698476710467,
+              -0.13549579845825135,
+              0.7565929362333637
+            ],
+            "target_position": [
+              0.24367856819890882,
+              -0.1364400114506137,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0019898700192516796,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21417749257016,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565929362333637,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569209114830877,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08745398612153561,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18542506147462923,
+            "release_required_pad_clearance": 0.05372699306076781,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4498498934636483,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 200,
+            "max_placed_release_frames": 200
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "97c1e3bc438836f984fe66fe9e1976904049a3f08c772197cb8d92769d6baa4b",
+    "visual_seed": 2814434774615449446,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_76_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ec275a4232c7df9d384adbf43fdac74b5e0db44
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_76_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2677886807513591,
+              -0.1311504083184023,
+              0.9972750554450209
+            ],
+            "current_z": 0.9972750554450209,
+            "required_z": 0.8565866671959957,
+            "initial_z": 0.7565866671959958,
+            "lift_margin": 0.1406883882490252,
+            "gripper_z": 0.9987552626525448,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2641502185046716,
+              -0.13524548614766183,
+              0.9987552626525448
+            ],
+            "object_minus_gripper": [
+              0.0036384622466875127,
+              0.004095077829259525,
+              -0.0014802072075238426
+            ],
+            "object_to_gripper_xy": 0.005477962207633715,
+            "object_to_gripper_z": -0.0014802072075238426,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2677886807513591,
+              -0.15464410513069574,
+              0.9972750554450209
+            ],
+            "finger_b": [
+              0.2572596379960034,
+              -0.1311504083184023,
+              0.9972750554450209
+            ],
+            "finger_midpoint": [
+              0.26252415937368123,
+              -0.142897256724549,
+              0.9972750554450209
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052645213776778554,
+              0.011746848406146704,
+              0.0
+            ],
+            "finger_gap": 0.025745184622606134,
+            "fingertip_max_gap": 0.09321540102412315,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012872592311303053,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9972750554450209,
+            "object_top_z": 1.0427999907534127,
+            "finger_top_clearance": 0.045524935308391745,
+            "fingertip_min_top_clearance": 0.01365748059251754,
+            "object_projection_between_fingers": 0.8327424398274892,
+            "object_to_finger_line_xy": 0.009608248759684447,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04910770051206158,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.1914233557411196,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 160,
+            "max_stable_success_frames": 160,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
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+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
+                "gripper_center",
+                "joint1",
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+                "joint3",
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+                "joint6",
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+                "left_inner_finger",
+                "lift2",
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+                "panda_joint1",
+                "panda_joint2",
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+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "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",
+                "wrist_3_joint"
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
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+        "post_done_wait_exhausted": false
+      },
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+        "target": "beaker_c",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
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+              0.7565865104596761
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+            "force_virtual_attach": false,
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+            "object_tilt_deg": 1.7760269040362933,
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 241,
+            "max_placed_release_frames": 241
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
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+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f409b4b0644d43fcb19e595dc2daedd40b5493bcbeeaf402382ae1cc11a86221",
+    "visual_seed": 8844421181787465548,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_77_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3880edd724f1f813edfae15b7a6e6773b61d266
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_77_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+            "required_stable_lift_frames": 5
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+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+        "ordinary_object_physical_only": true
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+      "skill": "pour",
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+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "target_xy_drift": 3.166839133187999e-08,
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
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+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e8019ada83eaa512c8b1fac20dc77f08bd63f58c779576be18dec9955e840963",
+    "visual_seed": 3362555046150490921,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_78_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..88f83843d38601581a833aa8354ef8a73bfa06b6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_78_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "reason": "executed",
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+              0.9987223236264191
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+              0.01176092111045604,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+          }
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "target_position": [
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+            "source_tilt_threshold_deg": 30.0,
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "source_name": "beaker",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+              0.3567741232599456,
+              -0.03257624354603455,
+              1.0456074703249434
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.36173133057866325,
+              -0.04432203334965189,
+              1.0456074703249434
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3666885378973808,
+              -0.03257624354603455,
+              1.0456074703249434
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02549803776854277,
+            "valid_pour_held_grasp_max_gap": 0.12496591866016388,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023790147320147607,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.032224514247155514,
+              -0.9991094901588965,
+              0.027236140621695437
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.00534259118014408,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04748295933008194,
+            "valid_pour_held_grasp_object_top_z": 0.04520074278116226,
+            "valid_pour_held_grasp_top_clearance": 0.033625156316824695,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560222834348679,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3666885378973808,
+              -0.056067823153269226,
+              1.0456074703249434
+            ],
+            "held_grasp_finger_b": [
+              0.3567741232599456,
+              -0.03257624354603455,
+              1.0456074703249434
+            ],
+            "held_grasp_midpoint": [
+              0.36173133057866325,
+              -0.04432203334965189,
+              1.0456074703249434
+            ],
+            "held_grasp_object_position": [
+              0.3666885378973808,
+              -0.03257624354603455,
+              1.0456074703249434
+            ],
+            "held_grasp_finger_gap": 0.02549803776854277,
+            "held_grasp_max_gap": 0.12496591866016388,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023790147320147607,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.032224514247155514,
+              -0.9991094901588965,
+              0.027236140621695437
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00534259118014408,
+            "held_grasp_line_xy_max_dist": 0.04748295933008194,
+            "held_grasp_object_top_z": 0.04520074278116226,
+            "held_grasp_top_clearance": 0.033625156316824695,
+            "held_grasp_min_top_clearance": 0.013560222834348679,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2271365592403644,
+              -0.12818261527586045,
+              0.7565982485453263
+            ],
+            "target_position": [
+              0.24744108201954437,
+              -0.14132652388808498,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.024187517005611555,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20336457361091176,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565982485453263,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07882588643142024,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0862129816798045,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17946411740723378,
+            "release_required_pad_clearance": 0.05310649083990225,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2226177389877277,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 197,
+            "max_placed_release_frames": 197
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d7091bef8ef4663d6ba3e84a370c22e7f80b2e3680997fca7e535fdc10b5b840",
+    "visual_seed": 7793100372541690373,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_7_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..98a5106cb4f2fc161aba011f1bb2852c3f4433eb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_7_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2698008219406265,
+              -0.13076256187451685,
+              0.9996194231059392
+            ],
+            "current_z": 0.9996194231059392,
+            "required_z": 0.85658660997787,
+            "initial_z": 0.75658660997787,
+            "lift_margin": 0.14303281312806926,
+            "gripper_z": 1.0011704838207969,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2663445954728222,
+              -0.13470887099158513,
+              1.0011704838207969
+            ],
+            "object_minus_gripper": [
+              0.003456226467804302,
+              0.003946309117068281,
+              -0.001551060714857666
+            ],
+            "object_to_gripper_xy": 0.005245841881357771,
+            "object_to_gripper_z": -0.001551060714857666,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2698008219406265,
+              -0.1540646739380171,
+              0.9996194231059392
+            ],
+            "finger_b": [
+              0.25941010858639924,
+              -0.13076256187451685,
+              0.9996194231059392
+            ],
+            "finger_midpoint": [
+              0.26460546526351286,
+              -0.14241361790626697,
+              0.9996194231059392
+            ],
+            "object_minus_finger_midpoint": [
+              0.005195356677113627,
+              0.011651056031750123,
+              0.0
+            ],
+            "finger_gap": 0.0255138266559456,
+            "fingertip_max_gap": 0.09371101201433671,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0127569133279728,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9996194231059392,
+            "object_top_z": 1.0451159434832036,
+            "finger_top_clearance": 0.04549652037726437,
+            "fingertip_min_top_clearance": 0.013648956113179327,
+            "object_projection_between_fingers": 0.8341408148726561,
+            "object_to_finger_line_xy": 0.00948997460337797,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04935550600716836,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.191344968686566,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 162,
+            "max_stable_success_frames": 162,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_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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+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25647982061038144,
+              -0.1366782958097727,
+              0.7565863708463152
+            ],
+            "target_position": [
+              0.24863586771142085,
+              -0.13549913687924478,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.007932087547711254,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2208160210661374,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863708463152,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583065314575672,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08653866454627186,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.19048609173813252,
+            "release_required_pad_clearance": 0.05326933227313593,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5581774725333195,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 201,
+            "max_placed_release_frames": 201
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6ff2e8ffaea5ba85d35982568937a0445781dc888f67db3910fad224333ccc89",
+    "visual_seed": 2929139352939344788,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_80_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..691e4872b824cb1771201a63247c46d9e389f5e1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_80_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2712138822756366,
+              -0.13236347982957963,
+              0.9988730292916643
+            ],
+            "current_z": 0.9988730292916643,
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+            "lift_margin": 0.1422864473239317,
+            "gripper_z": 1.000419980511457,
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+            "gripper_position": [
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+              -0.13638596974646308,
+              1.000419980511457
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+              0.004022489916883448,
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+            "object_to_gripper_z": -0.0015469512197927582,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2712138822756366,
+              -0.15564943893017807,
+              0.9988730292916643
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+            "finger_b": [
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+              0.9988730292916643
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+            "finger_midpoint": [
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+              -0.14400645937987885,
+              0.9988730292916643
+            ],
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+              0.01164297955029922,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_tilt_deg": 2.977192414235655,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
+            "max_stable_success_frames": 161,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_b",
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/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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+      },
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+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7701463897966117
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+              -0.03485688524296646,
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+            "max_wrist_deg": 120.83693373906256,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_max_tilt_deg": 20.0,
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+            "max_source_tilt_deg": 89.73608545099451,
+            "source_upright_tilt_deg": 2.970250978314968,
+            "max_source_upright_tilt_deg": 89.73370233998362,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.9888501868370607,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.3250007146648364e-07,
+            "max_target_xy_drift": 2.378522006631295e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3709,
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+                0.7701
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+              "controller_target_position": [
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+                -0.005,
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+              ],
+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_2": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
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+                ],
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+                "tilt_axis_frame": "end_effector",
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+                "approach_height_range_m": [
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+                ],
+                "pour_height_range_m": [
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+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
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+                  0.00028998852088603887,
+                  -0.00043107205096353505
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+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_b",
+              "source_return_upright_error_deg": 2.970249105629935,
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+              "source_return_stable_frames": 5,
+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 2.9819953152502245,
+              "source_return_best_wrist_position": -1.6332752704620361,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6332752704620361
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3709,
+              -0.005,
+              0.7701
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+            "pour_controller_controller_target_position": [
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+            ],
+            "pour_controller_controller_target_minus_raw_target": [
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+              0.0,
+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              0.0003,
+              -0.0004
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0659,
+              0.0943
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                0.00028998852088603887,
+                -0.00043107205096353505
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 2.970249105629935,
+            "pour_controller_source_return_step_error_deg": 2.9888460900303326,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.9819953152502245,
+            "pour_controller_source_return_best_wrist_position": -1.6332752704620361,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6332752704620361,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.031074615831696163,
+            "valid_pour_held_xy_dist": 0.02647337729913829,
+            "valid_pour_held_gripper_dist": 0.005578076134572985,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.0441346958662787,
+            "valid_pour_source_tilt_deg": 2.9888501868370607,
+            "valid_pour_source_upright_tilt_deg": 2.970250978314968,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.3250007146648364e-07,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3658318409462845,
+              -0.05412646605046326,
+              1.0441346958662787
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.35612113577354254,
+              -0.031022662275084545,
+              1.0441346958662787
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3609764883599135,
+              -0.0425745641627739,
+              1.0441346958662787
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3658318409462845,
+              -0.031022662275084545,
+              1.0441346958662787
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025061594997986887,
+            "valid_pour_held_grasp_max_gap": 0.12496623158454895,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02328826851945556,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.022192282057739217,
+              -0.9986565864046479,
+              0.04682440653853559
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005138800134232488,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.047483115792274475,
+            "valid_pour_held_grasp_object_top_z": 0.04520086199045181,
+            "valid_pour_held_grasp_top_clearance": 0.03377223043889707,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560258597135543,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3658318409462845,
+              -0.05412646605046326,
+              1.0441346958662787
+            ],
+            "held_grasp_finger_b": [
+              0.35612113577354254,
+              -0.031022662275084545,
+              1.0441346958662787
+            ],
+            "held_grasp_midpoint": [
+              0.3609764883599135,
+              -0.0425745641627739,
+              1.0441346958662787
+            ],
+            "held_grasp_object_position": [
+              0.3658318409462845,
+              -0.031022662275084545,
+              1.0441346958662787
+            ],
+            "held_grasp_finger_gap": 0.025061594997986887,
+            "held_grasp_max_gap": 0.12496623158454895,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02328826851945556,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.022192282057739217,
+              -0.9986565864046479,
+              0.04682440653853559
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005138800134232488,
+            "held_grasp_line_xy_max_dist": 0.047483115792274475,
+            "held_grasp_object_top_z": 0.04520086199045181,
+            "held_grasp_top_clearance": 0.03377223043889707,
+            "held_grasp_min_top_clearance": 0.013560258597135543,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2527347188012399,
+              -0.1427258382211706,
+              0.756587188294952
+            ],
+            "target_position": [
+              0.24985948730838506,
+              -0.13463495493324587,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.008586579558609114,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2180257354365893,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756587188294952,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531832047015212,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0854991952117894,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1876049021956409,
+            "release_required_pad_clearance": 0.052749597605894705,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5467913145784984,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 203,
+            "max_placed_release_frames": 203
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8f2140ed1fad3374523b6cd9d2607050b7545819b5706a079cfd11db6882a1c5",
+    "visual_seed": 5895782647962241094,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_81_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d508a091b7d0dc17b58cda4b39b761b89797248
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_81_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
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+          "failure_messages": {},
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+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "max_valid_pour_pose_frames": 219,
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+            "valid_pour_grasp_window_ok": true,
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+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
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+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.04092290030200137,
+              -0.9988885937253212,
+              0.023385755414839338
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005493892254370179,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.047483093440532684,
+            "valid_pour_held_grasp_object_top_z": 0.04520087689161301,
+            "valid_pour_held_grasp_top_clearance": 0.03366125244564673,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560263067483902,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37441117368094845,
+              -0.049193113794113646,
+              1.0450888774343638
+            ],
+            "held_grasp_finger_b": [
+              0.3643908451538841,
+              -0.025677668783738353,
+              1.0450888774343638
+            ],
+            "held_grasp_midpoint": [
+              0.36940100941741627,
+              -0.037435391288926,
+              1.0450888774343638
+            ],
+            "held_grasp_object_position": [
+              0.37441117368094845,
+              -0.025677668783738353,
+              1.0450888774343638
+            ],
+            "held_grasp_finger_gap": 0.025561360249921835,
+            "held_grasp_max_gap": 0.12496618688106537,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023899370702545254,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.04092290030200137,
+              -0.9988885937253212,
+              0.023385755414839338
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005493892254370179,
+            "held_grasp_line_xy_max_dist": 0.047483093440532684,
+            "held_grasp_object_top_z": 0.04520087689161301,
+            "held_grasp_top_clearance": 0.03366125244564673,
+            "held_grasp_min_top_clearance": 0.013560263067483902,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24387823166161937,
+              -0.14493562486927222,
+              0.7565867879536299
+            ],
+            "target_position": [
+              0.2447082691469634,
+              -0.14025915005900597,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0047495661778873075,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21545605846242524,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565867879536299,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532791523580312,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09031167557978882,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1858724953651906,
+            "release_required_pad_clearance": 0.05515583778989441,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.403796400180632,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9ce1e0cbaa5d95629e2cea7ce927f61b754262a1415eba36465c5d1a1c111dbe",
+    "visual_seed": 6434545855677804998,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_83_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4caa98a900e133edfa7ef470135b953720fe22f5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_83_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27352602118668357,
+              -0.132288099173331,
+              0.9998550787561622
+            ],
+            "current_z": 0.9998550787561622,
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+            "initial_z": 0.7565866672825523,
+            "lift_margin": 0.1432684114736099,
+            "gripper_z": 1.001354824135787,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26989584422405677,
+              -0.13633895923688089,
+              1.001354824135787
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+              0.004050860063549877,
+              -0.0014997453796248283
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+            "object_to_gripper_xy": 0.005439453284517629,
+            "object_to_gripper_z": -0.0014997453796248283,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27352602118668357,
+              -0.15567806699771108,
+              0.9998550787561622
+            ],
+            "finger_b": [
+              0.2629675284017896,
+              -0.132288099173331,
+              0.9998550787561622
+            ],
+            "finger_midpoint": [
+              0.2682467747942366,
+              -0.14398308308552105,
+              0.9998550787561622
+            ],
+            "object_minus_finger_midpoint": [
+              0.005279246392446979,
+              0.011694983912190038,
+              0.0
+            ],
+            "finger_gap": 0.025662664801500895,
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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": 0.9998550787561622,
+            "object_top_z": 1.0454164610351018,
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+            "fingertip_min_top_clearance": 0.01366841468368189,
+            "object_projection_between_fingers": 0.8307220650884152,
+            "object_to_finger_line_xy": 0.009623427980798583,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04915634275246908,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.8121700941724024,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 163,
+            "max_stable_success_frames": 163,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
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+              -0.13320622112932132,
+              0.7565881519231858
+            ],
+            "target_position": [
+              0.2524579168664801,
+              -0.13622685111500968,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.003927605252789545,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21827940517015876,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565881519231858,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521950169202568,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08630630905000418,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.19022975620307422,
+            "release_required_pad_clearance": 0.05315315452500209,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3311694229164757,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 239,
+            "max_placed_release_frames": 239
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "53ce0eb16a383fcefb3e833bea96caf69df09a2d935e000e346639c2615e6746",
+    "visual_seed": 3106012694393722637,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_84_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7634a73d024a1f44d7f26fdf34858dee35883a14
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_84_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.2746753569316143,
+              -0.1353746946846533,
+              0.9967778882403546
+            ],
+            "current_z": 0.9967778882403546,
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+            "initial_z": 0.756586529629415,
+            "lift_margin": 0.14019135861093968,
+            "gripper_z": 0.9981899211755825,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2711021087108376,
+              -0.1393923946194221,
+              0.9981899211755825
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+              0.004017699934768804,
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+            "object_to_gripper_z": -0.0014120329352278471,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2746753569316143,
+              -0.1587540310120452,
+              0.9967778882403546
+            ],
+            "finger_b": [
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+              -0.1353746946846533,
+              0.9967778882403546
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+              0.2694387378220108,
+              -0.14706436284834923,
+              0.9967778882403546
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+              0.011689668163695932,
+              0.0
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+            "object_to_finger_line_xy": 0.009558018914842483,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049173902352319235,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 160,
+            "max_stable_success_frames": 160,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+            "rotation_satisfied_by_source_tilt": true,
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 1.9882350286099655,
+            "max_source_tilt_deg": 89.99293318602994,
+            "source_upright_tilt_deg": 2.68110061917773,
+            "max_source_upright_tilt_deg": 89.71401074893109,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.9882350286099655,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.3364478945732117e-07,
+            "max_target_xy_drift": 1.862645149230957e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                -0.0068,
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+              "controller_target_position": [
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+                -0.0068,
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+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+                "position_threshold_m": 0.015,
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+              "source_pose_feedback": true,
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+              "source_pose_held_object": "beaker_b",
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+              "wrist_compensated_return_position": -1.6086597442626953
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+            "pour_controller_workflow_step_index": 1,
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
+              0.0,
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+            "pour_controller_lock_target_position": true,
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+            "pour_controller_pour_pose_offset": [
+              0.0008,
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+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
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+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                -0.0005421249924284176,
+                0.0010667463192972357
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 2.681111236322474,
+            "pour_controller_source_return_step_error_deg": 1.9882715460497686,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.6757680525451097,
+            "pour_controller_source_return_best_wrist_position": -1.6086597442626953,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6086597442626953,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.029033964367896715,
+            "valid_pour_held_xy_dist": 0.024303602307225954,
+            "valid_pour_held_gripper_dist": 0.005559595355492758,
+            "valid_pour_required_height": 0.800146330191967,
+            "valid_pour_held_z": 1.0471968993006304,
+            "valid_pour_source_tilt_deg": 1.9882350286099655,
+            "valid_pour_source_upright_tilt_deg": 2.68110061917773,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.3364478945732117e-07,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37060024966464006,
+              -0.053738089424273924,
+              1.0471968993006304
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.36062763253534347,
+              -0.03050454053627466,
+              1.0471968993006304
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3656139410999918,
+              -0.04212131498027429,
+              1.0471968993006304
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37060024966464006,
+              -0.03050454053627466,
+              1.0471968993006304
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025283411287612904,
+            "valid_pour_held_grasp_max_gap": 0.12496598571538925,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023557011330347835,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.03498526427383291,
+              -0.9989053672538697,
+              0.031049936475007867
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005401547327365828,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.047482992857694625,
+            "valid_pour_held_grasp_object_top_z": 0.04520072042942047,
+            "valid_pour_held_grasp_top_clearance": 0.03377110941001675,
+            "valid_pour_held_grasp_min_top_clearance": 0.01356021612882614,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37060024966464006,
+              -0.053738089424273924,
+              1.0471968993006304
+            ],
+            "held_grasp_finger_b": [
+              0.36062763253534347,
+              -0.03050454053627466,
+              1.0471968993006304
+            ],
+            "held_grasp_midpoint": [
+              0.3656139410999918,
+              -0.04212131498027429,
+              1.0471968993006304
+            ],
+            "held_grasp_object_position": [
+              0.37060024966464006,
+              -0.03050454053627466,
+              1.0471968993006304
+            ],
+            "held_grasp_finger_gap": 0.025283411287612904,
+            "held_grasp_max_gap": 0.12496598571538925,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023557011330347835,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.03498526427383291,
+              -0.9989053672538697,
+              0.031049936475007867
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005401547327365828,
+            "held_grasp_line_xy_max_dist": 0.047482992857694625,
+            "held_grasp_object_top_z": 0.04520072042942047,
+            "held_grasp_top_clearance": 0.03377110941001675,
+            "held_grasp_min_top_clearance": 0.01356021612882614,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24946093913992673,
+              -0.14466309681391007,
+              0.7565863145141307
+            ],
+            "target_position": [
+              0.2534770960313419,
+              -0.13988694244448938,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.00624028578968927,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2112221212169228,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863145141307,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535499206171242,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08724292313704347,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18202326180579875,
+            "release_required_pad_clearance": 0.05362146156852174,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2531398467365293,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 199,
+            "max_placed_release_frames": 199
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ba7d8a981f0632f94d7155b3fdb9b736b0eb4f8876fb405282cf2bdaeb11d7a2",
+    "visual_seed": 2256054245982894422,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_87_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..209b0e26b8f164f85c980f1fbe9d67fae3dbb0ae
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_87_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+              0.36572054104216356,
+              -0.05723705240319338,
+              1.045130421020523
+            ],
+            "held_grasp_finger_b": [
+              0.35613391200378297,
+              -0.033606513239919825,
+              1.045130421020523
+            ],
+            "held_grasp_midpoint": [
+              0.36092722652297327,
+              -0.0454217828215566,
+              1.045130421020523
+            ],
+            "held_grasp_object_position": [
+              0.36572054104216356,
+              -0.033606513239919825,
+              1.045130421020523
+            ],
+            "held_grasp_finger_gap": 0.025501094828781903,
+            "held_grasp_max_gap": 0.12496612727642059,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023828635921267816,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.022116906035541787,
+              -0.9994105163852187,
+              0.02625761234472268
+            ],
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+            "held_grasp_object_to_finger_line_xy": 0.005062888075052357,
+            "held_grasp_line_xy_max_dist": 0.047483063638210296,
+            "held_grasp_object_top_z": 0.045200809836387634,
+            "held_grasp_top_clearance": 0.03349851844939319,
+            "held_grasp_min_top_clearance": 0.01356024295091629,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24969594153395044,
+              -0.13470878435626854,
+              0.7565863751036697
+            ],
+            "target_position": [
+              0.24622938972251251,
+              -0.13809455372254997,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.004845659466268071,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2177956669235057,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863751036697,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548222434764769,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08972226380491553,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.189368373979414,
+            "release_required_pad_clearance": 0.05486113190245777,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.782439024164969,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 201,
+            "max_placed_release_frames": 201
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "217429981c357096eb73bcff88890f0195e33a8209b17c5579d617b6124e9ea9",
+    "visual_seed": 2663248626465516289,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_88_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..00531f08034d25e742148d1e7a185ffaa35f5bb7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_88_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_b",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+            "gripper_position": [
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+              -0.1416753797630521,
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+              0.003972421014227817,
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+              -0.1609310248971961,
+              0.9990140370742929
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+              0.9990140370742929
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+              0.2685948365840829,
+              -0.1493169918230102,
+              0.9990140370742929
+            ],
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+              0.011614033074185903,
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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": 161,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
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+            "release_required_pad_clearance": 0.052550032316439454,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1678587392862289,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 195,
+            "max_placed_release_frames": 195
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cc7ac1c4d30035c8f20c0b62d59d10927940028dfc9cdf40a1abbfb37d152691",
+    "visual_seed": 7140357044690313341,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_89_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc111eaaa761dc88f79ea4b0d691ba2f94b8a7cb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_89_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+              0.26777373570254903,
+              -0.1343680279993569,
+              0.9994816935527007
+            ],
+            "current_z": 0.9994816935527007,
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+            "initial_z": 0.7565866193198003,
+            "lift_margin": 0.14289507423290038,
+            "gripper_z": 1.0010362697999373,
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+            "gripper_position": [
+              0.26390414367950144,
+              -0.1384500518447557,
+              1.0010362697999373
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+              0.004082023845398797,
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+            "object_to_gripper_z": -0.0015545762472366498,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.15818351472353756,
+              0.9994816935527007
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+            "finger_b": [
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+              -0.1343680279993569,
+              0.9994816935527007
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+            "finger_midpoint": [
+              0.26265180773572827,
+              -0.14627577136144723,
+              0.9994816935527007
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011907743362090328,
+              0.0
+            ],
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 163,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
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+                {
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+          }
+        },
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+        "target": "beaker_b",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.03585466659331259,
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+            "max_source_tilt_deg": 89.77891816081848,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 3.465971735479011e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_max_tilt_deg": 15.0,
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+              "controller_target_position": [
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+                -0.0068,
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+              "controller_target_minus_raw_target": [
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+              "motion_plan": {
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+                "tilt_axis_frame": "end_effector",
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+            "pour_controller_skill": "pour",
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+            "pour_controller_controller_target_position": [
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+            ],
+            "pour_controller_controller_target_minus_raw_target": [
+              -0.0,
+              -0.0,
+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.0003,
+              -0.0012,
+              0.0018
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+            "pour_controller_controller_last_pour_pose_position": [
+              0.3801,
+              -0.0338,
+              1.0378
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.0677,
+              0.065,
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+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.00029900559621960513,
+                -0.0011797953517629764,
+                0.0018123970599949312
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 2.627451873889134,
+            "pour_controller_source_return_step_error_deg": 1.878190005762866,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.6266276062285905,
+            "pour_controller_source_return_best_wrist_position": -1.6089621782302856,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6089621782302856,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.030877743180973888,
+            "valid_pour_held_xy_dist": 0.025903270910086096,
+            "valid_pour_held_gripper_dist": 0.005839046495235958,
+            "valid_pour_required_height": 0.8001464494012567,
+            "valid_pour_held_z": 1.0453298373786737,
+            "valid_pour_source_tilt_deg": 1.878190031708643,
+            "valid_pour_source_upright_tilt_deg": 2.627451596636671,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.465971735479011e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37332210426344065,
+              -0.055485580047528286,
+              1.0453298373786737
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.36331136158841965,
+              -0.03185154095678148,
+              1.0453298373786737
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.36831673292593015,
+              -0.04366856050215488,
+              1.0453298373786737
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37332210426344065,
+              -0.03185154095678148,
+              1.0453298373786737
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025666763969157368,
+            "valid_pour_held_grasp_max_gap": 0.12496584415435791,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023987024691610268,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.03774259547828785,
+              -0.9989487277116835,
+              0.026017991655221895
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005456340310871101,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.047482922077178955,
+            "valid_pour_held_grasp_object_top_z": 0.04520066827535629,
+            "valid_pour_held_grasp_top_clearance": 0.033584987340771706,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560200482606888,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37332210426344065,
+              -0.055485580047528286,
+              1.0453298373786737
+            ],
+            "held_grasp_finger_b": [
+              0.36331136158841965,
+              -0.03185154095678148,
+              1.0453298373786737
+            ],
+            "held_grasp_midpoint": [
+              0.36831673292593015,
+              -0.04366856050215488,
+              1.0453298373786737
+            ],
+            "held_grasp_object_position": [
+              0.37332210426344065,
+              -0.03185154095678148,
+              1.0453298373786737
+            ],
+            "held_grasp_finger_gap": 0.025666763969157368,
+            "held_grasp_max_gap": 0.12496584415435791,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023987024691610268,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.03774259547828785,
+              -0.9989487277116835,
+              0.026017991655221895
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005456340310871101,
+            "held_grasp_line_xy_max_dist": 0.047482922077178955,
+            "held_grasp_object_top_z": 0.04520066827535629,
+            "held_grasp_top_clearance": 0.033584987340771706,
+            "held_grasp_min_top_clearance": 0.013560200482606888,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24819359320619577,
+              -0.1345103422097302,
+              0.7565864986773628
+            ],
+            "target_position": [
+              0.2465929496195643,
+              -0.13718115665241665,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.003113729223726261,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21757355832262845,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864986773628,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542100234194073,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08531716582251057,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18936504296678958,
+            "release_required_pad_clearance": 0.05265858291125529,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3753436956342257,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 201,
+            "max_placed_release_frames": 201
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 89,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d793863911961372731f84cb2dbd046be5120cdf362c3537e23af46d61c35487",
+    "visual_seed": 3558582448117870602,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_8_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..62a0d75fa42d0a6ab0a104fae1e2740e0d7fdaaa
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_8_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.26652221775631074,
+              -0.13713408498416996,
+              1.000432031219999
+            ],
+            "current_z": 1.000432031219999,
+            "required_z": 0.8565865618859209,
+            "initial_z": 0.7565865618859209,
+            "lift_margin": 0.14384546933407816,
+            "gripper_z": 1.0016524696065863,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2629050679029217,
+              -0.14114365795761574,
+              1.0016524696065863
+            ],
+            "object_minus_gripper": [
+              0.003617149853389068,
+              0.004009572973445785,
+              -0.0012204383865872526
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+            "held_grasp_z_skew_frame": "object_local_up",
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+              0.01438845266655593,
+              -0.9995675127958719,
+              0.025646828126236747
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+            "held_grasp_object_to_finger_line_xy": 0.004927835379912405,
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+            "held_grasp_object_top_z": 0.045200660824775696,
+            "held_grasp_top_clearance": 0.03338929827650688,
+            "held_grasp_min_top_clearance": 0.013560198247432709,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.22817103754999574,
+              -0.12080891406689544,
+              0.7565870684227214
+            ],
+            "target_position": [
+              0.24483354818218458,
+              -0.14149135258028833,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.02655941496773007,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20781043670708646,
+            "gripper_away_threshold": 0.04,
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+            "object_z": 0.7565870684227214,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08343320144847274,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08639145228583302,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18540314930693347,
+            "release_required_pad_clearance": 0.05319572614291651,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4110860462976724,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 199,
+            "max_placed_release_frames": 199
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cf90a238d26f7208c53bd00968d0617322d7f9416a5efdc3265b40e6ef98ca12",
+    "visual_seed": 101890185929551474,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_90_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..443df742e167c4ad09c12d6d777321175ab28ffd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_90_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+      "target": "beaker_b",
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+          "skill": "pick",
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+              -0.15055168391383927,
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+              1.0
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+            "stable_success_frames": 161,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+              ],
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+            "failed_keys": []
+          }
+        },
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+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "target_position": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ea1af43535597c9a57e0e9fb003bdb4a36d014c713b134050e45bb90e8b81f8d",
+    "visual_seed": 299892862083971365,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_91_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a1b8fb6b1e15df527ca2cb4e9942ad8faa13b63
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_91_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
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+          "metrics": {
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+              0.9998673456208217
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+            "lift_margin": 0.1432806795084346,
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+              -0.1375182634225221,
+              1.0013210962049088
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+              -0.15724496159225082,
+              0.9998673456208217
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+              -0.13343005584681056,
+              0.9998673456208217
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+              -0.1453375087195307,
+              0.9998673456208217
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+              0.011907452872720131,
+              0.0
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04906674571002925,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 164,
+            "max_stable_success_frames": 164,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
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+            },
+            "failed_keys": []
+          }
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+      },
+      "physical_semantics": {
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.0033380537325068543,
+              0.7701464494012565
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+              1.0463755652153668
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+              0.004010611617290681,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.52131752770545,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "source_tilt_deg": 1.8161919578354757,
+            "max_source_tilt_deg": 89.90342440794478,
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+            "max_source_upright_tilt_deg": 89.94562940836855,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.8161919578354757,
+            "source_upright_return_tilt_deg": 2.877444417829384,
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+            "target_xy_drift": 3.396774870313124e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              1.0
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+            "target_start_tilt_deg": 0.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+              "controller_target_position": [
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+              "controller_target_minus_raw_target": [
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+                -0.0
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+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "wrist_dof_index": 5,
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+                "tilt_strategy": "wrist_velocity",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
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+                  0.4
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+            "pour_controller_lock_target_position": true,
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+            "pour_controller_source_size": [
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
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+              0.2
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+            "pour_controller_resolved_tilt_axis_world": null,
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
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+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
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+              "approach_xy_threshold_m": 0.08,
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+                -0.0013747630824166182,
+                0.0005384651254473258
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+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 2.877173367202169,
+            "pour_controller_source_return_step_error_deg": 1.8162114046513487,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.876279547218609,
+            "pour_controller_source_return_best_wrist_position": -1.609933853149414,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.609933853149414,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.031241048597498,
+            "valid_pour_held_xy_dist": 0.026378437067893397,
+            "valid_pour_held_gripper_dist": 0.005765108690190427,
+            "valid_pour_required_height": 0.8001464494012566,
+            "valid_pour_held_z": 1.0447881331613684,
+            "valid_pour_source_tilt_deg": 1.8161919578354757,
+            "valid_pour_source_upright_tilt_deg": 2.877444417829384,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.396774870313124e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3744354577766115,
+              -0.052741707350002366,
+              1.0447881331613684
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3644596987522961,
+              -0.02912038462972836,
+              1.0447881331613684
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.36944757826445385,
+              -0.04093104598986536,
+              1.0447881331613684
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3744354577766115,
+              -0.02912038462972836,
+              1.0447881331613684
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025641424593156742,
+            "valid_pour_held_grasp_max_gap": 0.12496578454971313,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024012834466578467,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.04223171557748185,
+              -0.9987392039034984,
+              0.027138253178662357
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0054914087419402945,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04748289227485657,
+            "valid_pour_held_grasp_object_top_z": 0.045200660824775696,
+            "valid_pour_held_grasp_top_clearance": 0.03361553700927085,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560198247432709,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3744354577766115,
+              -0.052741707350002366,
+              1.0447881331613684
+            ],
+            "held_grasp_finger_b": [
+              0.3644596987522961,
+              -0.02912038462972836,
+              1.0447881331613684
+            ],
+            "held_grasp_midpoint": [
+              0.36944757826445385,
+              -0.04093104598986536,
+              1.0447881331613684
+            ],
+            "held_grasp_object_position": [
+              0.3744354577766115,
+              -0.02912038462972836,
+              1.0447881331613684
+            ],
+            "held_grasp_finger_gap": 0.025641424593156742,
+            "held_grasp_max_gap": 0.12496578454971313,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024012834466578467,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.04223171557748185,
+              -0.9987392039034984,
+              0.027138253178662357
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0054914087419402945,
+            "held_grasp_line_xy_max_dist": 0.04748289227485657,
+            "held_grasp_object_top_z": 0.045200660824775696,
+            "held_grasp_top_clearance": 0.03361553700927085,
+            "held_grasp_min_top_clearance": 0.013560198247432709,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2546534552455217,
+              -0.13605641721941256,
+              0.7565856315696968
+            ],
+            "target_position": [
+              0.2526619665157257,
+              -0.13804587933038845,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.002814957699844367,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21643285768843054,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565856315696968,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590713157251282,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08785853183917246,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1869235026196998,
+            "release_required_pad_clearance": 0.05392926591958623,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8596948802977606,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 236,
+            "max_placed_release_frames": 236
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 91,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d6f847e9058211de4f2f819e21781ad5aa02c7083c180d11621d54d279afd803",
+    "visual_seed": 5886432727646236543,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_93_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6325c335b43afca849e8946ab76209109a0209a9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_93_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27445747036888735,
+              -0.13855955094089362,
+              0.9991822156350589
+            ],
+            "current_z": 0.9991822156350589,
+            "required_z": 0.856586544054546,
+            "initial_z": 0.7565865440545461,
+            "lift_margin": 0.1425956715805129,
+            "gripper_z": 1.0004656454517202,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2706053104443379,
+              -0.1426088678681059,
+              1.0004656454517202
+            ],
+            "object_minus_gripper": [
+              0.0038521599245494587,
+              0.004049316927212276,
+              -0.0012834298166612967
+            ],
+            "object_to_gripper_xy": 0.005588926879224022,
+            "object_to_gripper_z": -0.0012834298166612967,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27445747036888735,
+              -0.1624157311946285,
+              0.9991822156350589
+            ],
+            "finger_b": [
+              0.2643573699713986,
+              -0.13855955094089362,
+              0.9991822156350589
+            ],
+            "finger_midpoint": [
+              0.26940742017014296,
+              -0.15048764106776105,
+              0.9991822156350589
+            ],
+            "object_minus_finger_midpoint": [
+              0.0050500501987443824,
+              0.011928090126867436,
+              0.0
+            ],
+            "finger_gap": 0.025906164601075983,
+            "fingertip_max_gap": 0.09355919962427955,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25022817893694266,
+              -0.14458616436475258,
+              0.7565864485303919
+            ],
+            "target_position": [
+              0.25335265989359723,
+              -0.14276278834609818,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0036176071309501046,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21468079621015496,
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+            "object_z": 0.7565864485303919,
+            "min_z": 0.5730800627579278,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585505723077499,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08920863727574359,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18483955072485628,
+            "release_required_pad_clearance": 0.054604318637871796,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.246217197629596,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 244,
+            "max_placed_release_frames": 244
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 93,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1b922d5270505aadf665f372bbc044b2d5b7054ddf1212896f2168c03b13f380",
+    "visual_seed": 2074216065183063117,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_94_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2323615c46c1af80f55077837a9a9d4a5dd0163
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_94_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                {
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+                  "b": "/World/target_beaker/mesh"
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_b",
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+            "max_wrist_deg": 120.59848500494824,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
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+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 94,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "85854060d4531ecf0fe51716a358e1ac985c824af04a1a70f3054c5e51d49918",
+    "visual_seed": 591955133987924220,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_95_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff69a8c8105d1853f2388a754cd3b2f1b21a34bf
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_95_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
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+              -0.13994913321905023,
+              0.9970114399415121
+            ],
+            "current_z": 0.9970114399415121,
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+            "initial_z": 0.7565865967139174,
+            "lift_margin": 0.14042484322759474,
+            "gripper_z": 0.9983106245505852,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.1439839020483888,
+              0.9983106245505852
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+              0.003918837621320559,
+              0.004034768829338564,
+              -0.0012991846090730785
+            ],
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+            "object_to_gripper_z": -0.0012991846090730785,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.1638925437001554,
+              0.9970114399415121
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+            "finger_b": [
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+              -0.13994913321905023,
+              0.9970114399415121
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+            "finger_midpoint": [
+              0.26634864858404955,
+              -0.1519208384596028,
+              0.9970114399415121
+            ],
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+              0.011971705240552577,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.009259850357948718,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04895137047847645,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
+            "max_stable_success_frames": 161,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+              "allowed": [
+                {
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+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_b",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_b",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.0038181838145031773,
+              0.7701463897966117
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+              -0.03222614364013511,
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+              0.003992096070599849,
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+            "gripper_z": 1.0471906945861655,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.62680296924712,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.8063052545388,
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+            "max_source_upright_tilt_deg": 89.99303487536872,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 3.810748469562226e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+              "controller_target_position": [
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+                -0.0038,
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+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "resolved_tilt_axis_world": null,
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+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                ],
+                "pour_height_range_m": [
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+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_height_range_1": [
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
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+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
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+                1.0,
+                0.0,
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+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+                0.2
+              ],
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+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_b",
+            "pour_controller_source_return_upright_error_deg": 3.5885918894056594,
+            "pour_controller_source_return_step_error_deg": 2.102682808793789,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.5884747170737668,
+            "pour_controller_source_return_best_wrist_position": -1.6107234954833984,
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+            "pour_controller_wrist_compensated_return_position": -1.6107234954833984,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.02955991085264056,
+            "valid_pour_held_xy_dist": 0.024783364813966008,
+            "valid_pour_held_gripper_dist": 0.005773152083403468,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.045765974578995,
+            "valid_pour_source_tilt_deg": 2.1027347648668644,
+            "valid_pour_source_upright_tilt_deg": 3.5885939039156103,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.810748469562226e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37098908238087164,
+              -0.051738969091872984,
+              1.045765974578995
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3609804239805952,
+              -0.02823404756953526,
+              1.045765974578995
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3659847531807334,
+              -0.03998650833070412,
+              1.045765974578995
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37098908238087164,
+              -0.02823404756953526,
+              1.045765974578995
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025547105095189926,
+            "valid_pour_held_grasp_max_gap": 0.12496602296829223,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023960898768077745,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.05016309270684782,
+              -0.9980392185772492,
+              0.03743504122874863
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.00560449306975341,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04748301148414612,
+            "valid_pour_held_grasp_object_top_z": 0.04520075023174286,
+            "valid_pour_held_grasp_top_clearance": 0.03372236610690822,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560225069522857,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37098908238087164,
+              -0.051738969091872984,
+              1.045765974578995
+            ],
+            "held_grasp_finger_b": [
+              0.3609804239805952,
+              -0.02823404756953526,
+              1.045765974578995
+            ],
+            "held_grasp_midpoint": [
+              0.3659847531807334,
+              -0.03998650833070412,
+              1.045765974578995
+            ],
+            "held_grasp_object_position": [
+              0.37098908238087164,
+              -0.02823404756953526,
+              1.045765974578995
+            ],
+            "held_grasp_finger_gap": 0.025547105095189926,
+            "held_grasp_max_gap": 0.12496602296829223,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023960898768077745,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.05016309270684782,
+              -0.9980392185772492,
+              0.03743504122874863
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00560449306975341,
+            "held_grasp_line_xy_max_dist": 0.04748301148414612,
+            "held_grasp_object_top_z": 0.04520075023174286,
+            "held_grasp_top_clearance": 0.03372236610690822,
+            "held_grasp_min_top_clearance": 0.013560225069522857,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.23254799821040395,
+              -0.12212715985415737,
+              0.7565872475967302
+            ],
+            "target_position": [
+              0.2501882582536732,
+              -0.1422157348333305,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.02673442759978268,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20520761186375935,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565872475967302,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08430772522482381,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08498411421305165,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18209214390216985,
+            "release_required_pad_clearance": 0.052492057106525825,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.05594392139474269,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 195,
+            "max_placed_release_frames": 195
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 95,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d979775d572922681b32e65678d441d7649678398dc885a96534e47bdab75a61",
+    "visual_seed": 2087136784012551530,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_96_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..79c6dfa45502f275fc5ec7efa1f69f3a114aec3b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_96_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2704250127740212,
+              -0.13673169084889983,
+              0.9977992851453028
+            ],
+            "current_z": 0.9977992851453028,
+            "required_z": 0.8565866146121656,
+            "initial_z": 0.7565866146121656,
+            "lift_margin": 0.14121267053313724,
+            "gripper_z": 0.9988813161569442,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26691246881894154,
+              -0.14068426554199714,
+              0.9988813161569442
+            ],
+            "object_minus_gripper": [
+              0.003512543955079661,
+              0.003952574693097316,
+              -0.0010820310116413934
+            ],
+            "object_to_gripper_xy": 0.005287798383153428,
+            "object_to_gripper_z": -0.0010820310116413934,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2704250127740212,
+              -0.1601357318294858,
+              0.9977992851453028
+            ],
+            "finger_b": [
+              0.26009899734704656,
+              -0.13673169084889983,
+              0.9977992851453028
+            ],
+            "finger_midpoint": [
+              0.2652620050605339,
+              -0.1484337113391928,
+              0.9977992851453028
+            ],
+            "object_minus_finger_midpoint": [
+              0.005163007713487322,
+              0.01170202049029298,
+              0.0
+            ],
+            "finger_gap": 0.025580768730025794,
+            "fingertip_max_gap": 0.09338376758951564,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012790384365012897,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9977992851453028,
+            "object_top_z": 1.0432045017662916,
+            "finger_top_clearance": 0.04540521662098884,
+            "fingertip_min_top_clearance": 0.013621564986296653,
+            "object_projection_between_fingers": 0.837056006355027,
+            "object_to_finger_line_xy": 0.009447350498713269,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04919188379475782,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.080695057532615,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
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+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.22892127579753893,
+              -0.12631950979651901,
+              0.7565864689980503
+            ],
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+              0.2491518357883684,
+              -0.13953404338839165,
+              0.7730800627579277
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+            "xy_dist": 0.02416401157906691,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20428607340210314,
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+            "gripper_away_ok": true,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09160257537434723,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18069839902106768,
+            "release_required_pad_clearance": 0.055801287687173615,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.799333470978288,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 197,
+            "max_placed_release_frames": 197
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 96,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3e61554e6cf31e36393a4d861fc3cecc29591f33a00e19bcd3dabdf7d36db7e8",
+    "visual_seed": 3542298873473194088,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_97_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9af2c307600517dabc98ccd3adb14fc03b7fa8d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_97_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+        "ordinary_object_physical_only": true
+      }
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "max_source_upright_tilt_deg": 89.85009535567893,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+                "wrist_2_joint",
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 97,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "136316ded897248e406d0aec2f5de83e48f6ffff72913c16c9b4dd75e2368f7e",
+    "visual_seed": 3320178755965321806,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_99_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab76df79d3ebb2582fa667bce94427403cbe4a63
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_99_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              -0.143280744468365,
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+              1.0
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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_b"
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+              "allowed_object_paths": [
+                "/World/target_beaker"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+            "disturbances": [],
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+                  "b": "/World/target_beaker/mesh"
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "metrics": {
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+            "max_valid_pour_pose_frames": 219,
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+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
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+            "peak_end_effector_tilt_pose_failed_keys": [],
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+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "source_name": "beaker",
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+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.030613211919317644,
+            "valid_pour_held_xy_dist": 0.02589318018270186,
+            "valid_pour_held_gripper_dist": 0.005611304625601714,
+            "valid_pour_required_height": 0.8001464494012565,
+            "valid_pour_held_z": 1.044599138445957,
+            "valid_pour_source_tilt_deg": 1.9636177923861757,
+            "valid_pour_source_upright_tilt_deg": 2.4824794477306593,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 2.9980053385384144e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3662121335718716,
+              -0.05380946530387252,
+              1.044599138445957
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3564726280484477,
+              -0.03025686162353476,
+              1.044599138445957
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3613423808101597,
+              -0.04203316346370364,
+              1.044599138445957
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3662121335718716,
+              -0.03025686162353476,
+              1.044599138445957
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025486920331100504,
+            "valid_pour_held_grasp_max_gap": 0.12496596336364746,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_b_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02387324475327015,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.035191182855105085,
+              -0.9990615200272241,
+              0.0252519276521812
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005289402411345434,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04748298168182373,
+            "valid_pour_held_grasp_object_top_z": 0.04520069807767868,
+            "valid_pour_held_grasp_top_clearance": 0.03360682042083672,
+            "valid_pour_held_grasp_min_top_clearance": 0.013560209423303604,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3662121335718716,
+              -0.05380946530387252,
+              1.044599138445957
+            ],
+            "held_grasp_finger_b": [
+              0.3564726280484477,
+              -0.03025686162353476,
+              1.044599138445957
+            ],
+            "held_grasp_midpoint": [
+              0.3613423808101597,
+              -0.04203316346370364,
+              1.044599138445957
+            ],
+            "held_grasp_object_position": [
+              0.3662121335718716,
+              -0.03025686162353476,
+              1.044599138445957
+            ],
+            "held_grasp_finger_gap": 0.025486920331100504,
+            "held_grasp_max_gap": 0.12496596336364746,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02387324475327015,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.035191182855105085,
+              -0.9990615200272241,
+              0.0252519276521812
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005289402411345434,
+            "held_grasp_line_xy_max_dist": 0.04748298168182373,
+            "held_grasp_object_top_z": 0.04520069807767868,
+            "held_grasp_top_clearance": 0.03360682042083672,
+            "held_grasp_min_top_clearance": 0.013560209423303604,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_b",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_3",
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25292506326752345,
+              -0.1320132184015647,
+              0.7565864677486583
+            ],
+            "target_position": [
+              0.253398030940943,
+              -0.13450289587751973,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0025342044815637216,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21686156822356983,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864677486583,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563481395244137,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0855285294304138,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18825194602650655,
+            "release_required_pad_clearance": 0.0527642647152069,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5774279341185719,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 234,
+            "max_placed_release_frames": 234
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 99,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2891541627295583141,
+    "physical_seed": 1061768133550289122,
+    "layout_id": "layout_00016",
+    "step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "workflow_spec_digest": "33e8a26e8ad1cc1bfc00dd3804de909a5d3e7d5566515b363e614b80c2f2172a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f232be277c1dbaec80a90449d636697fa26bb926aaf11d67b394c3f68eba975a",
+    "visual_seed": 5228576343442423761,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      1164515841808467485,
+      5066845160497422571,
+      1159376154734467498
+    ],
+    "runtime_workflow_digest": "82589e1804c0f35af8f7b7fa94731bfc5790d6bbea3cf9b867918fd291914eb1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_9_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b2b7b9e7738bc933080a5364dd82397a28d813a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_cvg_00016/results/episode_9_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2704614201959479,
+              -0.13345798492746613,
+              0.9966605312095597
+            ],
+            "current_z": 0.9966605312095597,
+            "required_z": 0.8565866523346741,
+            "initial_z": 0.7565866523346741,
+            "lift_margin": 0.14007387887488554,
+            "gripper_z": 0.9982363498569737,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2666676042089044,
+              -0.13749905195804388,
+              0.9982363498569737
+            ],
+            "object_minus_gripper": [
+              0.0037938159870434807,
+              0.004041067030577744,
+              -0.0015758186474140734
+            ],
+            "object_to_gripper_xy": 0.0055428568887505225,
+            "object_to_gripper_z": -0.0015758186474140734,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2704614201959479,
+              -0.15717979110731894,
+              0.9966605312095597
+            ],
+            "finger_b": [
+              0.26022063766188974,
+              -0.13345798492746613,
+              0.9966605312095597
+            ],
+            "finger_midpoint": [
+              0.2653410289289188,
+              -0.14531888801739254,
+              0.9966605312095597
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051203912670290674,
+              0.011860903089926406,
+              0.0
+            ],
+            "finger_gap": 0.025837912364283094,
+            "fingertip_max_gap": 0.09334052806865259,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012918956182141547,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9966605312095597,
+            "object_top_z": 1.0422111480658174,
+            "finger_top_clearance": 0.04555061685625772,
+            "fingertip_min_top_clearance": 0.013665185056877315,
+            "object_projection_between_fingers": 0.8429089487585016,
+            "object_to_finger_line_xy": 0.00940206991098714,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0491702640343263,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.7170534079229416,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
+            "max_stable_success_frames": 161,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
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+                "panda_rightfingertip",
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+                "ridgebase_ur16e",
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+                "robotiq_2f85",
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+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
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+                "Robotiq_2F_85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
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+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
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